Biomimetic Design of an Under-Actuated Leg Exoskeleton

For Load-Carrying Augmentation

by
Conor James Walsh
B.A.I., B.A. Mechanical and Manufacturing Engineering (2003)
Trinity College Dublin
Submitted to the Department of Mechanical Engineering in Partial Fulfillment of the
requirements for the Degree of
Master of Science in Mechanical Engineering
at the
Massachusetts Institute of Technology
February 2006
2006 Massachusetts Institute of Technology
All rights reserved
Signature of Author:..
Department of Mechanical Engineering
January 19th, 2006
Certified by:...
Hugh Herr
Associate Professor of Media Arts and Sciences
Thesis Supervisor
Certified by:...
Derek Rowell
Professor of Mechanical Engineering
Thesis Supervisor
Accepted by:..
Lallit Anand
Professor of Mechanical Engineering
Chairman, Department Committee on Graduate Students

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Biomimetic Design of an Under-Actuated Leg Exoskeleton For

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Metabolic studies have shown that there is a metabolic cost associated with carrying a load (Griffin et al,
2003). Further studies have shown that by applying forward propulsive forces a person can walk with a
reduced metabolic rate (Farley & McMahon, 1992 and Gottschall & Kram, 2003). Previous work on
exoskeleton design has not considered the passive dynamics of walking and has focused on fully actuated
systems that are inefficient and heavy. In this thesis, an under-actuated exoskeleton is presented that runs
parallel to the human leg. The exoskeleton component design is based on the kinematics and kinetics of
human walking. The joint components of the exoskeleton in the sagittal plane consist of a force-controllable
actuator at the hip, a variable-damper mechanism at the knee and a passive spring at the ankle. A
state-machine control strategy is written based on joint angle and ground-exoskeleton force sensing.
Positive non-conservative power is added at the hip during the walking cycle to help propel the mass of the
human and payload forward. At the knee, the damper mechanism is turned on at heel strike as the
exoskeleton leg is loaded and turned off during terminal stance to allow knee flexion. The spring at the
ankle engages in controlled dorsiflexion to store energy that is later released to assist in powered
plantarflexion. Kinetic and metabolic data are recorded from human subjects wearing the exoskeleton with
a 75lb payload. These data are compared to data recorded from subjects walking without the exoskeleton.
It is demonstrated that the exoskeleton does transfer loads to the ground with a 90% and higher load
transfer depending on the phase of gait. Further exoskeleton wearers report that the exoskeleton greatly
reduces the stress on the shoulders and back. However, although a significant fraction of the payload is
transferred through the exoskeleton structure, the exoskeleton is found to increase metabolic economy by
74%. By comparing distinct exoskeleton configurations, the relative effect of each exoskeleton component
is determined. Metabolic data show that the variable-damper knee and ankle spring mechanisms increase
metabolism by only 32%, whereas a non-actuated exoskeleton (no motor, variable-damper, or spring)
increases walking metabolism by 62%. These results highlight the benefit of ankle elastic energy storage
and knee variable-damping in exoskeleton design, and further the need for a lighter, more efficient hip
actuator.
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Biomimetic Design of an Under-Actuated Leg Exoskeleton

For Load-Carrying Augmentation
by
CONOR JAMES WALSH
Submitted to the Department of Mechanical Engineering on
January 19th, 2006 in partial fulfillment of the requirements for the
Degree of Master of Science in Mechanical Engineering

Abstract
Metabolic studies have shown that there is a metabolic cost associated with carrying a
load (Griffin et al, 2003). Further studies have shown that by applying forward
propulsive forces a person can walk with a reduced metabolic rate (Farley & McMahon,
1992 and Gottschall & Kram, 2003). Previous work on exoskeleton design has not
considered the passive dynamics of walking and has focused on fully actuated systems
that are inefficient and heavy. In this thesis, an under-actuated exoskeleton is presented
that runs parallel to the human leg. The exoskeleton component design is based on the
kinematics and kinetics of human walking. The joint components of the exoskeleton in
the sagittal plane consist of a force-controllable actuator at the hip, a variable-damper
mechanism at the knee and a passive spring at the ankle. A state-machine control
strategy is written based on joint angle and ground-exoskeleton force sensing. Positive,
non-conservative power is added at the hip during the walking cycle to help propel the
mass of the human and payload forward. At the knee, the damper mechanism is turned
on at heel strike as the exoskeleton leg is loaded and turned off during terminal stance to
allow knee flexion. The spring at the ankle engages in controlled dorsiflexion to store
energy that is later released to assist in powered plantarflexion.
Kinetic and metabolic data are recorded from human subjects wearing the exoskeleton
with a 75lb payload. These data are compared to data recorded from subjects walking
without the exoskeleton. It is demonstrated that the exoskeleton does transfer loads to
the ground with a 90% and higher load transfer depending on the phase of gait. Further,
exoskeleton wearers report that the exoskeleton greatly reduces the stress on the
shoulders and back. However, although a significant fraction of the payload is
transferred through the exoskeleton structure, the exoskeleton is found to increase
metabolic economy by 74%. By comparing distinct exoskeleton configurations, the
relative effect of each exoskeleton component is determined. Metabolic data show that
the variable-damper knee and ankle spring mechanisms increase metabolism by only
32%, whereas a non-actuated exoskeleton (no motor, variable-damper, or spring)
increases walking metabolism by 62%. These results highlight the benefit of ankle
elastic energy storage and knee variable-damping in exoskeleton design, and further the
need for a lighter, more efficient hip actuator.
Thesis Supervisor: Hugh Herr
Title: Associate Professor of Media, Arts and Sciences

ii

Acknowledgments
My time spent working on this thesis has been both interesting and enjoyable. This is due
to the fact that I have gained tremendously as a result of having worked alongside many
interesting and dedicated colleagues. In particular, I would like to thank Professor Herr
for having given me the opportunity to work in the Biomechatronics Group and for his
constant assistance and motivation. I would also like to thank Dr. Daniel Paluska and
Dr. Ken Pasch for their advice and mentoring during the period which I spent working on
my thesis. I have gained a lot of knowledge from the both of them. Thanks also to
Professor Rowell for his advice and guidance.
May I also offer thanks to those in the Biomechatronics Group with whom I have worked
for making it such an exciting working environment. Goutham Reddy for all his
electronics advice and techno beats. Sam Au for all his control help and runs along the
banks of the river Charles. Bruce Deffenbaugh for his constant willingness to help on any
topic and for all the late night cups of tea. Peter Dilworth for his design advice and lifesaving chokes. William Guillermo Grand for being the most dedicated person I have
ever met and the late nights in Johnson track during the summer. Waleed Farahat for his
help with anything related to Matlab and for always looking at the theoretical side of
things. Russ Tedrake for onsite PC104 technical support. Ernesto Martinez for his sensor
advice and for the headphones. Andrea Chew for the GUI help and for her phone charger.
Thanks also to all other friends and staff at MIT who have made life so enjoyable and
fulfilling for me.
Thanks also to Mum and Dad and to my brothers Damien and Niall for always keeping
my ego in check. Thanks also to the lads at chez Jay and chez Elm, life is all the better
when youre living with good friends. And finally, my thanks to that special lady - you
know who you are!
This research was done under Defense Advanced Research Projects Agency (DARPA)
contract #NBCHC040122, Leg Orthoses for Locomotory Endurance Amplification.

iii

Table of Contents
Abstract
......................................................................................................................... ii
Acknowledgments.............................................................................................................. iii
Table of Contents............................................................................................................... iv
List of Figures ..................................................................................................................... v
List of Tables .................................................................................................................... vii
1
Introduction..................................................................................................... 1
1.1
Metabolic effect of forces applied to the human during walking ....................... 2
1.2
Biomechanics of Load Carrying ......................................................................... 4
1.3
Exoskeleton Concept and Background ............................................................... 5
1.4
Motivation for a Semi-Active Approach ............................................................ 7
1.5
Contributions....................................................................................................... 8
1.6
Hypotheses.......................................................................................................... 9
1.7
Thesis Outline ..................................................................................................... 9
2
Biomechanical Gait Analysis........................................................................ 10
2.1
Human Gait....................................................................................................... 10
2.2
Muscle Activity in Gait..................................................................................... 12
2.3
Human Walking Biomechanics in the sagittal plane ........................................ 14
3
Electro-Mechanical Design of Exoskeleton.................................................. 23
3.1
Functional Requirements .................................................................................. 23
3.2
Exoskeleton Structure ....................................................................................... 24
3.3
Exoskeleton Degrees of Freedom ..................................................................... 24
3.4
Exoskeleton interface to the human.................................................................. 26
3.5
Final Assembly ................................................................................................. 28
3.6
Actuation........................................................................................................... 29
3.7
Exoskeleton Prototype Improvements .............................................................. 45
4
Controller Implementation............................................................................ 49
4.1
Electronics Test Bed ......................................................................................... 49
4.2
Sensing.............................................................................................................. 52
4.3
Control Strategies.............................................................................................. 55
5
Experimental Methods .................................................................................. 63
5.1
Experimental Subjects ...................................................................................... 63
5.2
Data Collection ................................................................................................. 63
5.3
Experimental Protocol ...................................................................................... 65
5.4
Data Analysis .................................................................................................... 66
6
Results and Discussion ................................................................................. 68
6.1
Kinematic and Kinetic Data.............................................................................. 68
6.2
Metabolic Measurements .................................................................................. 71
7
Conclusion .................................................................................................... 77
8
Future Work .................................................................................................. 78
References ....................................................................................................................... 79
Appendix A: Carbon Fiber Harness Construction ............................................................ 82
Appendix B: Subject Consent Forms................................................................................ 83

iv

List of Figures
Figure 1.1 Concept sketch of the main components of the exoskeleton............................ 2
Figure 1.2 Summary of results from metabolic studies ..................................................... 3
Figure 1.3 Results showing an optimal forward assistive force of 10% when walking .... 3
Figure 1.4 Increasing metabolic rate with increasing payload and speed.......................... 4
Figure 1.5 Load-Carrying Exoskeletons ............................................................................ 6
Figure 1.6 Assistive Exoskeletons ..................................................................................... 7
Figure 1.7 Passive Dynamic Walkers ................................................................................ 8
Figure 2.1 Reference planes of body in standard anatomic position ............................... 10
Figure 2.2 Sign convention used for joint angles ............................................................ 11
Figure 2.3 The eight main phases of the walking cycle from heel strike to heel strike... 11
Figure 2.4 A simple model of walking ............................................................................ 12
Figure 2.5 Significant regions of positive and negative work in walking ....................... 13
Figure 2.6 Gait data showing the trajectory of the hip, knee and ankle joint .................. 14
Figure 2.7 Hip angle and torque profiles scaled for a 135kg person ............................... 16
Figure 2.8 Hip joint power profile scaled for a 135kg person ......................................... 16
Figure 2.9 The hip angle plotted versus hip torque for a walking speed of 0.8m/s......... 17
Figure 2.10 Knee angle and torque profiles scaled for a 60kg person............................. 18
Figure 2.11 Knee joint power profile scaled for a 60kg person....................................... 19
Figure 2.12 A plot of knee angle versus knee torque for the walking cycle.................... 19
Figure 2.13 The ankle angle and torque profile scaled for a 60kg person are shown ..... 20
Figure 2.14 Ankle joint power profile scaled for a 60kg person ..................................... 21
Figure 2.15 Plot of ankle angle versus ankle torque for the walking cycle ..................... 22
Figure 3.1 The main components of the exoskeleton ...................................................... 23
Figure 3.2 Finite element results from testing the exoskeleton thigh and shank............. 24
Figure 3.3 Schematic of exoskeleton structure and degrees of freedom of exoskeleton. 25
Figure 3.4 Foam mockup of the exoskeleton harness being tested.................................. 26
Figure 3.5 Finite element analysis of the carbon fiber harness........................................ 27
Figure 3.6 Exoskeleton components prior to assembly ................................................... 28
Figure 3.7 Rotary series elastic actuator schematic. ........................................................ 29
Figure 3.8 CAD model of the linear series elastic actuator ............................................. 30
Figure 3.9 Testing the hip actuators for two different boundary conditions ................... 31
Figure 3.10 Actuator model showing controller and lumped parameter model .............. 32
Figure 3.11 Lumped parameter model for the actuator (Robinson, 2000). ..................... 32
Figure 3.12 Model of the actuator showing the load mass on the end (Robinson 2000). 33
Figure 3.13 Output response (red) to an input chirp signal (blue)................................... 34
Figure 3.14 Open loop response for the fixed end condition........................................... 34
Figure 3.15 Open loop Bode plots for SEA for two end conditions................................ 35
Figure 3.16 Closed loop Bode plot for the actuator for the fixed end condition. ............ 37
Figure 3.17 Closed loop testing of actuator for fixed end condition ............................... 37
Figure 3.18 Large force bandwidth of actuator ............................................................... 38
Figure 3.19 Closed loop testing of actuator with an equivalent load mass of 350kg ...... 39
Figure 3.20 Closed loop testing of actuator for load mass end condition........................ 39
Figure 3.21 Closed loop position control testing ............................................................. 40
Figure 3.22 Braking torque of the magnetorheological damper vs. current .................... 41
Figure 3.23 Magnetorheological damper demagnitization .............................................. 42
v

Figure 3.24 Uni-directional ankle spring ......................................................................... 43

Figure 3.25 Exoskeleton foot and the shoe worn by the wearer...................................... 44
Figure 3.26 Section view of the adduction spring assembly at the hip joint. .................. 45
Figure 3.27 Revised foot and ankle design...................................................................... 46
Figure 3.28 Exoskeleton spine to attach the backpack to the harness. ............................ 47
Figure 4.1 Schematic of the electronic components ........................................................ 49
Figure 4.2 Digital amplifiers from copley ....................................................................... 51
Figure 4.3 Signal conditioning board............................................................................... 51
Figure 4.4 Sensors on the exoskeleton leg....................................................................... 52
Figure 4.5 Timing belt and pulley on inside of harness................................................... 53
Figure 4.6 Schematic of exoskeleton shank and foot ...................................................... 54
Figure 4.7 Thigh cuff sensor............................................................................................ 55
Figure 4.8 Summary of the actuation control of the exoskeleton leg .............................. 55
Figure 4.9 State-machine diagram for the knee controller .............................................. 57
Figure 4.10 Sensor data from the exoskeleton leg for a single gait cycle ....................... 58
Figure 4.11 The state machine for the exoskeleton knee in operation............................. 59
Figure 4.12 State machine diagram for the hip controller ............................................... 60
Figure 4.13 Sensor data from the exoskeleton leg for a single gait cycle ....................... 61
Figure 4.14 The state machine for the exoskeleton hip in operation ............................... 61
Figure 4.15 GUI used to vary the parameters for gait cycle state-machine tuning. ........ 62
Figure 5.1 Caddy velocity calibration.............................................................................. 64
Figure 6.1 Hip and knee angle data of the exoskeleton as a function of gait cycle......... 69
Figure 6.2 Load in the exoskeleton leg shank as a function of gait cycle ....................... 69
Figure 6.3 Moment in the exoskeleton shank as a function of gait cycle........................ 70
Figure 6.4 Increasing metabolic cost of carrying 75lbs with increasing walking speed. 73

vi

List of Tables
Table 2.1
Table 2.2
Table 2.3
Table 3.1
Table 3.2
Table 3.3
Table 3.4
Table 4.1
Table 4.2
Table 5.1
Table 6.1
Table 6.2
Table 6.3
Table 6.4
Table 6.5
Table 6.6

Specifications for the hip joint of the exoskeleton .......................................... 17

Specifications for the knee joint of the exoskeleton ........................................ 20
Specifications for the ankle joint of the exoskeleton....................................... 22
Exoskeleton degrees of freedom...................................................................... 25
Maximum torque and angular velocity calculations for hip joint.................... 30
Experimentally obtained system parameters ................................................... 35
Physical values of the elements in the lumped parameter model .................... 35
Description of states and their respective triggers for the knee....................... 57
Description of states for hip controller. ........................................................... 59
Experimental participant data. ......................................................................... 63
Summary of metabolic data from experiments................................................ 71
Metabolic cost for the various experiments performed ................................... 72
Comparison of walking with 75lbs with and without the exoskeleton............ 73
The effect of increased mass for actuation at the ankle and knee.................... 74
The metabolic cost of wearing the exoskeleton with no load.......................... 75
Incremental cost of load-carrying. .................................................................. 76

vii

1 Introduction
When compared to wheeled vehicles, exoskeleton-based assistive devices have several
advantages, such as allowing the user to traverse irregular terrain. Individuals employed
in specific recreational, occupational and military pursuits often carry heavy loads using a
variety of backpack systems.

Recreational hikers and backpackers commonly carry

subsistence and comfort items in backpacks (Fletcher, 1994). Fire fighters and other
emergency personnel carry oxygen tanks for breathing and other equipment using
backpack systems (Louhevaara et al., 1985). Still further, foot soldiers often carry
extremely heavy backpack loads and walk long distances across rough terrain (Fletcher,
1994).
A leg exoskeleton could benefit people who engage in load carrying by increasing load
bearing capacity, speed and endurance, lessening the likelihood of injury, improving
efficiency and reducing the perceived level of difficulty.

Exoskeletons have been

developed that amplify the strength of the wearer, apply assistive torques to the wearers
joints and support a payload for the wearer. Several exoskeleton design approaches have
employed hydraulic actuators to power hip, knee and ankle joints in the sagittal plane.
Such an exoskeleton design demands a great deal of power, requiring a heavy power
supply to achieve system autonomy. For example, the Bleex developed at the University
of California, Berkeley (Chu et al., 2005) consumes approximately 2.27kW of hydraulic
power, 220 Watts of electrical power, and has a total system weight of 100 lbs. This
approach leads to a noisy device that has a very low payload to system weight ratio.
Further, this type of exoskeleton is heavy and, if failure were to occur, could cause
significant harm to the wearer.
This thesis examines biomechanical data from human walking and outlines the design of
an alternative, more efficient exoskeleton that uses both passive and active elements. The
exoskeleton actuation in the sagittal plane consists of a non-conservative actuator at the
hip, a variable-damper mechanism at the knee, and springs at the ankle. The actuator at

the hip allows power to be added at desired instances throughout the gait cycle to propel
the wearer forward and to reduce the effects of exoskeleton mass.

Backpack

Hip Actuator

Pelvic
Harness

Knee Brake

Thigh Cuff

Foot
Attachment

Ankle Spring

Figure 1.1 Concept sketch of the main components of the exoskeleton.

A state-machine control strategy is written based on joint angle sensing as well as

ground-exoskeleton interaction sensing. When the human foot is on the ground, the
exoskeleton transfers the forces from the loaded backpack to the ground. Using the
force-controllable actuator at the hip, positive power is added at the hip during the stance
phase to propel the mass of the human and payload forward, and to cancel the mass of the
human and exoskeleton leg during the swing phase. The variable-damper mechanism at
the knee is turned on during early stance to provide support for the load and is then
switched off during terminal stance and swing to minimize resistance at the knee joint.
The passive spring at the ankle engages in controlled dorsiflexion to store energy that is
later released to assist in powered plantarflexion.

1.1

Metabolic effect of forces applied to the human during walking

Walking metabolism is set by muscles that act to perform work on the center of mass,
swing the legs relative to the center of mass, and support the body weight. A number of
researchers have performed metabolic experiments where external loads were applied to
the body in vertical and horizontal directions. The results of these experiments are
summarized below in Figure 1.2.

Figure 1.2 Summary of results from metabolic studies while exerting external forces on the human (Figure
courtesy of Daniel Paluska).

One set of experiments recorded metabolic data while various levels of assistive and
impeding external horizontal forces were applied to the waist of a subject walking on a
treadmill (Gottschall and Kram, 2003). A 47% reduction in metabolic rate was found
when an aiding horizontal force equal in magnitude to 10% body weight was applied to a
person. Further, the study showed that the 10% value was optimal and that a larger
assisting force increased metabolic demands.

Figure 1.3 Results showing an optimal forward assistive force of 10% when walking (Gottschall and Kram,
2003).

Other metabolic experiments have been performed to examine the effect of load carrying
on metabolic rate. In these investigations, it was found that net metabolic rate increased
as subjects carried heavier loads and the percent increase due to loading was found to be
similar at all speeds. Further, Pandolf et al. (1978) found that when a human carried a
load equivalent to 40% of body weight, the rate of energy consumption during walking
increased by approximately 40%. Griffen et al. (2003) found a similar result. When
subjects carried loads equal to 30% of their body mass, the net metabolic rate increased
47 +- 17% above their unloaded rate.

Figure 1.4 Increasing metabolic rate with increasing payload and speed (Griffen et al., 2003).

Researchers have also performed experiments to examine the effect of gravity on the
metabolic rate of walking (Farley and McMahon, 1992). In this investigation, a series of
steel springs were used to apply a nearly constant upward force to the body through a
bicycle saddle. This reduced the force that the muscles had to generate to support the
weight of the body. These researchers discovered that by reducing gravity by 50%, the
metabolic rate reduced by 25%.

1.2

Biomechanics of Load Carrying

There has been much research on the biomechanics of human gait published in the
literature. However, there has only been a very small proportion of research published on
load carrying biomechanics. Much of the work that has been done in the area has been
carried out by the Military due to its relevance to soldiers carrying heavy backpack loads

for long periods of time. Many associated medical injuries have been reported involving
tissue damage under straps, back problems and lower limb injuries (Jones, 1983; Knapik
et al., 1996). Another common injury is metatarsalgia which results from the foot
rotating anteroposteriorly around the distal ends of the metatarsal bones for prolonged
periods of time. Other common injuries include stress fractures in the lower limb, knee
pain and lower-back injuries. In one study 50% of the soldiers who were unable to
complete a strenuous 20-km walk reported problems associated with the back (Knapik et
al., 1992). Dalen et al. (1978) reported a 15% incidence (17 cases out of 114) of knee
pain during load-carriage from subjects walking for long periods of time. These studies
all showed that backpack load carrying caused significant stress on the shoulders, back
and leg joints.
During load-carrying, propulsive, braking and vertical ground reaction forces increase in
proportion to increasing load carried (Harman et al., 2000). In a study they found that for
a body plus mass increase by 40%, ankle peak plantarflexion torque increased by 38%,
knee peak extension torque increased by 98% and hip peak extension torque increased by
47%. The forward inclination of the trunk also increased significantly with load, helping
to keep the body plus pack center of mass over the feet. Other adaptations to load
included greater knee flexion after impact (which aids in shock absorption), reduced
pelvic rotation and increased foot rotation in the sagittal plane. These results all indicate
that it is likely that a load-carrying exoskeleton could reduce the injuries associated with
the back and lower limbs. Further, such an exoskeleton also has the potential to reduce
walking metabolism compared to unassisted load carrying.

1.3

Exoskeleton Concept and Background

Exoskeletons have been developed that amplify the strength of the wearer, apply assistive
torques to the wearers joints and support a payload being carried by the wearer. General
Electric developed and tested a prototype man-amplifier, a master-slave system called the
Hardiman (General Electric, 1968). It consisted of a set of overlapping exoskeletons
worn by the human operator and the outer exoskeleton followed the motions of the

operator. Difficulties in human sensing, stability of the servomechanisms, safety, power

requirements and system complexity kept it from walking.
The Berkeley Lower Extremity Exoskeleton attached to the human foot and back. The
hip, knee and ankle joints were powered in the sagittal plane with linear hydraulic
actuators (Chu et al., 2005). The system was powered with an internal combustion
engine that was also supported by the exoskeleton. Sarcos Inc. developed a similar
exoskeleton with rotary hydraulics at the joints (Huang, 2004). Both systems sensed the
intent of the wearer and the robotic legs tracked the human legs so the wearer did not
feel the exoskeleton.

Other researchers are also developing a prototype of an

exoskeleton to support a payload (Liu et al., 2004).

Figure 1.5 Load-Carrying Exoskeletons. In a), the Berkeley Lower Extremity Exoskeleton is shown with
an IC engine attached on the back powering linear hydraulic actuators (Kazerooni et al., 2005). In b), the
Sarcos, Inc. exoskeleton is shown with rotary hydraulic actuators and backpack (Huang, 2004), In c), a
concept sketch of another exoskeleton in development is shown (Liu et al., 2004).

Vukobratovi et al. (1990) developed exoskeletons to aid walking for paraplegics. They
assisted patients to walk by commanding the exoskeleton to track pre-defined trajectories.
They had limited success in assisting subjects to walk, partly due to the fact that the
devices were greatly limited by material, actuation and battery technology at the time.
Researchers at the University of Tsukuba in Japan developed an exoskeleton power assist
system to aid people with a gait disorder to walk (Sankai, 2004). They measured the joint
angles, ground contact force and myoelectrical signals of the muscles and used these

signals to control the actuation applied to the wearer. The RoboWalker was developed to
augment or replace muscular functions of the lower extremities (Pratt et al., 2004). This
was done by powering the human hip and knee joints using series elastic actuators.

Figure 1.6 Assistive Exoskeletons. In a), a subject is shown with leg weaknesses stair climbing using an
exoskeleton (Vukobratovic et al., 1990). In b), the exoskeleton from the University of Tsukuba is shown.
DC motors were used to power the hip and knee joint of the wearer (Sankai, 2004), In c), the RoboWalker
from Yobotics Inc. is shown. It used series elastic actuators to power the joints (Pratt et al., 2004)

1.4

Motivation for a Semi-Active Approach

Evidence from biology (Farley and Ferries, 1998) and passive walkers (McGeer, 1990)
suggest that legged locomotion can be very energy efficient. The exchange between
potential and kinetic energy suggests that walking may be approximated as a passive
mechanical process. Passive walkers reinforce this fact. In such a device, a human-like
pair of legs settles into a natural gait pattern generated by the interaction of gravity and
inertia. Although a passive walker requires a modest incline to power its movements,
researchers have enabled these robots to walk on level ground by adding just a small
amount of energy at the hip or ankle joint (Wisse, 2004). Figure 1.7 shows some
examples of actuated passive walkers. MIKE was a 2D pneumatically activated biped
with knees, weighing only 6 kg. The actuation is realized with McKibben muscles at the
hip joints. Denise is from the University of Delft and stands 1.5 m tall, weighs 8 kg, and
walks with a velocity of 0.4 m/s. The hip joint was actuated and consisted of a bisecting
mechanism which linked the two legs to each other.

The ankles and knees were

completely passive, except that the knee was provided with a controllable latch. The

Cornell biped was actuated at the ankle where it pushed off to restore energy lost, mostly
due to heel strike collisions (Collins et al., 2005). The hip joint was fully passive and a
latch at each knee passively locked the shank throughout stance.

Figure 1.7 Passive Dynamic Walkers. In a), a 2D pneumatically activated biped with knees, MIKE, is
shown (Wisse, 2004). In b), Denis, a powered passive walker from Delft is shown. The robot is only
actuated at the hip and can walk with a human like gait (Wisse, 2004). Lastly, in c), the Cornell biped is
shown. It is actuated at the ankle only (Collins et al., 2005).

Recent evidence suggests that elastic energy storage is also critical for efficient bipedal
ambulation. Palmer (2002) characterized the human ankle during the stance phase of
walking in terms of simple mechanical spring elements. He showed that the sagittal
plane dynamics of a normal ankle can be reproduced at least at slow to moderate walking
speeds. Further, researchers have studied the placement of appropriate springs in parallel
with the human (van den Bogert, 2004). It was shown in numerical simulation that an
exoskeleton using passive elastic devices substantially reduced the muscle force and
metabolic energy in walking.

1.5

Contributions

This thesis presents an alternative architecture to a fully actuated exoskeleton.

Specifically, human walking data was analyzed and design specifications for actuation at
the hip, knee and ankle joints were extracted. A controller was written that controls
actuation at the hip and knee that allows the exoskeleton to support a payload and apply
assistive torques to the wearer. The hypotheses guiding this research effort follow.

1.6

Hypotheses

The following are the specific hypotheses of this research effort:

1. An under-actuated leg exoskeleton consisting of a force-controllable actuator at
the hip, a variable-damper mechanism at the knee and a spring at the ankle will
improve metabolic walking economy for carrying a 75lb load compared with
unassisted loaded walking.
2. The same exoskeleton will improve metabolic walking economy for carrying a
75lb load compared with a minimal mass non-actuated exoskeleton (no motor, no
variable-damper or spring).
3. An under-actuated exoskeleton will transfer its own weight and that of a payload
to the ground during walking.

1.7

Thesis Outline

Chapter 2 provides background on some of the terms associated with human walking. It
also examines human walking data at the hip, knee and ankle joint in the sagittal plane
and provides design specifications for the exoskeleton.

Chapter 3 describes the

mechanical design of the exoskeleton and the characterization of the components used for
actuation whilst Chapter 4 outlines the implementation of the electronics test-bed for
sensing and control as well as describes the state-machine controller used to control the
hip and knee. Chapter 5 details the experimental methods and metrics for quantifying the
metabolic cost and Chapter 6 presents and discusses the results. Chapter 7 summarizes
the conclusions of this work and Chapter 8 provides recommendations for future work.

2 Biomechanical Gait Analysis

This chapter provides background on describing human walking biomechanics and
introduces the relevant terminology used in examining it. The energetics of walking is
described and the significant regions of positive and negative power of the three main leg
joints during a single walking cycle are highlighted. From this description, specifications
for joint actuation in the sagittal plane are extracted.

2.1

Human Gait

Walking uses a repetitious sequence of limb motion to move forward while

simultaneously maintaining stance stability. The beginning of the gait cycle is
represented as initial contact of one foot with the gait surface, usually termed heel strike
(Perry, 1992). Walking is three dimensional but this thesis focuses only on the sagittal
plane as the largest motions, torques and powers are in this plane.

Figure 2.1 Reference planes of body in standard anatomic position (Inman et al., 1981).

The sign convention that is used is that each joint angle is measured as the positive
counterclockwise displacement of the distal link from the proximal link (zero in standing
position) with the person orientated as shown in Figure 2.2. In the position shown, the

10

hip angle is positive whereas both the knee and ankle angles are negative. Torque is
measured as positive acting counterclockwise on the distal link.

Figure 2.2 Sign convention used for joint angles. Each joint angle is measured as the positive
counterclockwise displacement from the distal link to the proximal link (Chu et al., 2005).

Very simply, walking can be thought of as two phases, a stance phase and a swing phase.
During the stance phase the muscles at the hip, knee and ankle generally act to decelerate
and stabilize the body.

At the end of the stance phase the ankle is in powered

plantarflexion where it provides the energy to power the body forward. At the start of the
swing phase, the hip gives a burst of energy to raise the leg and swing it forward. Figure
2.3 outlines the eight main phases of the walking cycle.

Figure 2.3 The eight main phases of the walking cycle from heel strike to heel strike (Perry, 1992).

11

The kinetic and gravitational potential energy of the center of mass of the human are
approximately 180 degrees out of phase in walking. At mid-stance in walking, the
gravitational potential energy is at its maximum and the kinetic energy is at its minimum.
Because these energies are approximately 180 degrees out of phase with each other and
their fluctuations are similar in magnitude, substantial pendulum-like energy exchange
occurs. In human walking, as much as 60-70% of the mechanical energy required to lift
and accelerate the center of mass is conserved by this energy transfer mechanism (Farley
and Ferris, 1998). Mechanical energy savings are maximized at moderate walking speeds,
and fall toward zero at very low and very high walking speeds. This energy transfer
mechanism in walking is often referred to as the inverted pendulum mechanism.

Figure 2.4 A simple model of walking. In a), an illustration of the inverted pendulum type motion of the
human during walking is shown. In b), the potential and kinetic energy fluctuations during walking are
shown (Farley and Ferris, 1998).

2.2

Muscle Activity in Gait

Many muscles responsible for walking contract isometrically to allow for maintenance of
upright posture against gravity. Brief bursts of more energy expensive contraction of
muscle are added when needed to provide power for forward motion (Inman et al., 1981).
Positive work is performed when a muscle is concentrically contracting whilst negative
work is said to be performed when a muscle is eccentrically contracting. Much muscle
activity in walking is isometric or eccentric. Negative work allows the limbs to absorb
energy while resisting the pull of gravity, yet remain metabolically efficient. Positive
work of muscles during walking allows acceleration of limbs and powers such activities
as flexion of the hip during pre-swing.

12

Figure 2.5 illustrates the significant regions of positive and negative power during the
gait cycle. The red and blue circles highlight regions of positive and negative power
respectively at the hip, knee and ankle joints at various instances of the gait cycle. The
majority of positive power during a gait cycle comes from H1 and H3 at the hip and A2
at the ankle. The knee largely dissipates energy apart from the K2 region as the bodys
center of mass is raised. The regions A1 at the ankle and H2 at the hip are instances of
significant negative power as the muscles control the bodys forward movement against
gravity.

H1
K1

K2
A1

H3

H2

K4
A2

Positive Power

K3

Negative Power

Figure 2.5 Significant regions of positive and negative work in walking. The instances labeled here are
referred to later in this paper when examining human walking data. (Adapted from Inman et al., 1981)

The regions of positive and negative power highlighted in Figure 2.7 are well
documented in the literature and can generally be seen in any set of walking data (Inman
et al., 1981). However, there is a large amount of variation in the magnitude and duration
of the regions across different subjects and different walking speeds.

13

2.3

Human Walking Biomechanics in the sagittal plane

In this thesis, human walking data were used in order to specify the design requirements
for the components at the exoskeleton joints. The power profiles for the hip, knee and
ankle in the sagittal plane were plotted for a number of sets of gait data (Kirtley, 1998
(old and young); Linskell, 1997; van den Bogert, 2004).

The biomechanical data

presented in this thesis come from studies where camera systems tracked markers placed
on a subjects legs while they walked on a set of force plates. The marker position data
and the force plate data are then used to calculate the kinematics and kinetics of
movement. Joint power is the dot-product of the moment at the joint and the angular
velocity of the distal segment with respect to the proximal segment. Depending on the
direction of the movement and the direction of the angular velocity, the power can be
either positive or negative. In the biomechanics literature, positive power is called
power generated, and negative power is called power absorbed.
1

Height (m)

0.8

0.6

0.4

0.2

0
0

0.5

1.5

Distance (m)

Figure 2.6 A plot of the gait data showing the trajectory of the hip, knee and ankle joint (Data from Kirtley,
1998 (old)).

A conservative estimate of the weight of the exoskeleton and payload was chosen to be
60kg and the normative data were scaled to a 60kg person in order to estimate the torques
and powers required at the joints of the exoskeleton. In estimating the torque and power
requirements at the hip joint of the exoskeleton, the normative data were scaled to a

14

135kg person. This was due to the fact that the design goal was to have the actuator at
the hip assist the exoskeleton (60kg) as well as the human (75kg). The human was
assisted by means of a thigh cuff attachment between the human and exoskeleton thigh.
The pelvic tilt angle was added to the hip angle to yield a single angle which represented
the angle between the human torso and the thigh in the sagittal plane. The goal was to
design an exoskeleton to assist in load carrying at slow walking speeds. As a result, the
data used to extract specifications for actuation at the joints were that for a walking speed
of 0.8m/s (Kirtley, 1998).
A number of assumptions were made in the application of the human biomechanical data
to the design of the exoskeleton. The first was that the exoskeleton carried its own
weight, power supply and payload. The second assumption was that joint torques and
joint powers scaled linearly with mass. This second assumptions seemed reasonable
given that increases in vertical ground reaction force have been found to be proportional
to increases in the load being carried (Llyod, 2000). The third assumption was that the
exoskeleton would not greatly affect the gait of the wearer.

2.3.1

Hip Kinematics and Kinetics

During normal walking, the human hip joint follows an approximate sinusoidal pattern as
can be seen in Figure 2.7. The thigh is flexed forward on heel strike and then the hip
moves through extension during stance as the body is pivoted over the stance leg in a
pendulum-like motion. The range of motion of the hip joint can be seen to vary between
-20 to 45 degrees.
At heel strike there is a sharp increase in hip torque as the leg accepts the weight of body
to begin the stance phase. A peak negative hip torque of approximately 130Nm is
experienced as the leg accepts load and the bodys center of mass is raised. A maximum
positive torque of about 100Nm occurs during the swing phase as the hip muscles provide
energy to swing the leg forward.

15

50

150

40

50
20

Hip Torque (Nm)

Adjusted Hip Angle (Degrees)

100
30

10
0

-50
-10

Linskell
Kirtley (Young)
Kirtley (Old)
Bogert

-20
-30

10

20

30

40
50
60
% Gait Cycle

70

80

90

Linskell
Kirtley (Young)
Kirtley (Old)
Bogert

-100

100

-150

10

20

30

40
50
60
% Gait Cycle

70

80

90

100

Figure 2.7 Hip angle and torque profiles scaled for a 135kg person.

The power profile at the hip as a function of gait cycle is shown in Figure 2.8. On heel
strike the hip abductors move from eccentric to isometric to concentric activity, elevating
the pelvis in preparation for swing. During mid-stance, eccentric hip flexor activity
controls the body being carried forward by momentum. The hip contributes to propulsion
as it shifts from eccentric to concentric activity which will advance the extremity into the
swing phase by lifting the leg and swinging it forward. This region is the muscular
system's second largest contribution of propulsive power during the gait cycle and is
often referred to as pull-off.
200

H3

150

H1

Hip Power (W)

100

50

-50

-150

Linskell
Kirtley (Young)
Kirtley (Old)
Bogert

H2

-100

10

20

30

40
50
60
% Gait Cycle

70

80

90

100

Figure 2.8 Hip joint power profile scaled for a 135kg person as a function of the gait cycle. H1 is a small
region of positive power, not always present, which corresponds to concentric hip extensor activity during
loading response. H2 is a region of negative power, corresponding to eccentric hip flexor activity during
mid-stance. Lastly, H3 is a region of positive power, corresponding to concentric activity in the hip flexors
during pre-swing and initial swing.

16

The hip joint is the preferred location for a non-conservative actuator as proximal mass is
less expensive metabolically in walking than distal mass. An actuator could assist by
adding power in the H1 and H3 regions. The maximum positive power required is
approximately 150W and this occurs as the leg is beginning the swing phase. Also from
Figure 2.8 it can also be seen that a spring placed at the hip joint could absorb the
negative energy in H2 and release it during H3 to assist in swinging the leg forward. In
Figure 2.9 an approximate linear relationship can be seen between the hip torque and
angle during the stance phase of the walking cycle. The spring constant for such an
extension spring was estimated as 115Nm/rad.
60
Extension
Flexion

40

Hip Torque (Nm)

20

115
Nm/rad

-20

-40

-60

-80
-10

-5

10
15
Hip Angle (Deg)

20

25

30

35

Figure 2.9 The hip angle plotted versus hip torque for a walking speed of 0.8m/s (Kirtley, 1998 (old)).

A summary of the specifications for actuation at the hip joint of the exoskeleton are
shown in Table 2.1. The approach taken in this thesis was to use a non-conservative
actuator at the hip. Although a non-conservative actuator at the hip is heavier than a
simple spring, it was believed that it would not be too detrimental to walking metabolism
as the mass was proximal. A possible hybrid approach might be to use a small motor in
conjunction with the spring in the stance phase to aid the leg further in the swing phase.
-20 deg to 45 deg

Range of Motion
Max Joint Velocity

4 rad/s

Max Joint Torque

130 Nm

Max Joint Power

150 Watts
115 Nm/rad

Extension Spring Constant

Table 2.1 Specifications for the hip joint of the exoskeleton that were extracted from the gait data

17

2.3.2

Knee Kinematics and Kinetics

Figure 2.10 shows plots of the angle and torque profile of the knee joint as a function of
gait cycle. In early stance there is initial flexion-extension of the knee to help maintain a
near horizontal trajectory of the bodys center of mass. After the initial flexion-extension
the knee remains locked for the remainder of the stance phase. The knee then undergoes
flexion of approximately 60 degrees to allow for foot clearance during the swing phase.
On heel strike, the knee bends slightly while exerting a maximum negative torque of
30Nm as the leg accepts the weight of the human. This is followed by a large positive
extension torque of approximately 50Nm that keeps the knee from buckling during early

50

-10

40

-20

30
Knee Torque (Nm)

Knee Angle (Degrees)

stance and also assists in straightening the leg.

-30
-40
-50
-60

-80

10

20

30

20
10
0
-10

Linskell
Kirtley (Young)
Kirtley (Old)
Bogert

-70

Linskell
Kirtley (Young)
Kirtley (Old)
Bogert

-20

40
50
60
% Gait Cycle

70

80

90

100

-30

10

20

30

40
50
60
% Gait Cycle

70

80

90

100

Figure 2.10 Knee angle and torque profiles scaled for a 60kg person.

Figure 2.11 outlines the power of the knee as a function of gait cycle. It can be seen that
the power is largely negative indicating that the knee absorbs power for the majority of
the gait cycle. At heel strike there is a region of negative power followed by a period of
positive power as the knee goes through stance flexion-extension. This is followed by a
period of negligible joint power as the knee is passively extended. Here the quadriceps
are inactive and it is the ground reaction forces, as well as activity in the ankle plantar
flexors, that keep the knee stabilized in extension. For a large part of the swing phase the
leg has a pendulum like motion with the knee varying the damping to control the swing
leg duration.

18

60
40

K2

20

Knee Power (W)

0
-20
-40

K1

-60
-80
-100
-120

K3

Linskell
Kirtley (Young)
Kirtley (Old)
Bogert
0

10

20

30

K4
40
50
60
% Gait Cycle

70

80

90

100

Figure 2.11 Knee joint power profile scaled for a 60kg person as a function of gait cycle. K1 is a region of
negative power, corresponding to eccentric knee extensor activity during the loading response K2 is a
region of positive power, corresponding to concentric knee extensor activity during mid-stance. K3 is a
region of negative power, corresponding to eccentric activity in the rectus femoris during pre-swing. K4 is
a region of negative power, corresponding to eccentric activity in the hamstrings during terminal swing.

It can be seen in Figure 2.11, that during flexion-extension during early stance, the knee
behaves like a spring as there is a region of negative energy followed by a region of
positive energy of similar size. Figure 2.12 shows a plot of knee angle vs. torque and a
linear relationship can be seem during the stance phase. For the remainder of the gait
cycle, the knee acts like a variable-damper to control leg during the swing phase.
10
Stance Flexion
Stance Extension
Swing Phase

Knee Torque (Nm)

-5

-10

136 Nm/rad
-15

-20
-60

-50

-40

-30
-20
Knee Angle (Deg)

-10

Figure 2.12 A plot of knee angle versus knee torque for the walking cycle. During the stance phase there
is a linear relationship between torque and angle. It can be seen that the knee behaves primarily as a
variable-damper throughout the gait cycle (Kirtley, 1998 (old)).

19

From the gait data it appears that the ideal actuator for the knee of the exoskeleton is a
spring with a variable-damper. The spring would provide a resistive torque at the knee
on heel strike as energy is absorbed and this energy is then released to aid in knee
extension during stance. During the swing phase, the variable-damper would be engaged
to control the swinging of the leg. It should be noted, for walking on a decline or down
stairs, the variable-damper would be required during the stance phase to dissipate energy.
However, for this thesis a variable-damper mechanism was used without the spring. The
damper was able to provide the necessary resistive torque during stance but the negative
energy was dissipated as heat.
0 deg to 90 deg

Range of Motion

50 Nm

Max Braking Torque

136 Nm/rad

Stance Spring Constant

Table 2.2 Specifications for the knee joint of the exoskeleton that were extracted from the gait data.

2.3.3

Ankle Kinematics and Kinetics

The ankle joint experiences a range of motion of approximately 15 degrees in both

directions during normal human walking. During the mid and late stance phases of
walking the ankle eccentric plantar flexor activity creates negative joint torque as the
ankle controls the forward movement of the center of mass. The peak torque experienced
by the ankle is approximately 90Nm.
20

10

15

Linskell
Kirtley (Young)
Kirtley (Old)
Bogert

-10
-20
Ankle Torque (Nm)

Ankle Angle (Degrees)

10
5
0
-5

-30
-40
-50
-60

-10

Linskell
Kirtley (Young)
Kirtley (Old)
Bogert

-15
-20

10

20

30

-70
-80

40
50
60
% Gait Cycle

70

80

90

100

-90

10

20

30

40
50
60
% Gait Cycle

70

80

Figure 2.13 The ankle angle and torque profile scaled for a 60kg person are shown.

20

90

100

The power as a function of gait cycle for the ankle is shown in Figure 2.14. For slow
walking the region of negative work, A1, is approximately equal to the region of positive
power, A2 suggesting that a spring at the ankle is be a good choice for actuation at the
ankle.

At faster walking speeds, A2 is significantly larger indicating that a non-

conservative actuator is required. However, a heavy actuator at the ankle would be

detrimental to walking metabolism due to the large distal mass.
160
Linskell
Kirtley (Young)
Kirtley (Old)
Bogert

140
120

A2

Ankle Power (W)

100
80
60
40
20

A1

0
-20
-40

10

20

30

40
50
60
% Gait Cycle

70

80

90

100

Figure 2.14 Ankle joint power profile scaled for a 60kg person as a function of gait cycle. A1 is a region
of negative power, corresponding to eccentric plantar flexor activity at the ankle during mid-stance and
terminal stance. A2 is a region of positive power, corresponding to the concentric burst of propulsive
plantar flexor activity during pre-swing.

Figure 2.15 shows the ankle torque plotted vs. angle for walking at 0.8m/s. A linear fit
yields a spring constant for the ankle of approximately 301Nm/rad for this walking speed.
This implies that, for slow walking, a spring could be placed at the ankle of the
exoskeleton to store the negative energy during controlled dorsiflexion and later release
this to assist in powered plantarflexion. Further, the energy released from such a spring
could also help to minimize the negative effects of distal exoskeleton mass.

21

10
0
-10

Ankle Torque (Nm)

-20
-30
-40
-50
-60
-70
-80
-90
-10

Foot Flat
DorsiFlexion
PlantarFlexion
Swing
-5

301 Nm/rad

5
Ankle Angle (Deg)

10

15

20

Figure 2.15 Plot of ankle angle versus ankle torque for the walking cycle. It can be seen that the ankle
behaves like a spring during stance at a walking speed of 0.8m/s (Kirtley, 1998 (old)).

The summary of the specifications for the ankle joint are shown in Table 2.3. For slow
walking speeds a spring is the ideal choice for actuation at the ankle as the energy
absorbed during dorsiflexion is almost equal to the positive energy generated during
controlled plantarflexion. Based on the ankle data in Figure 2.15 the total energy that is
absorbed and then later released is approximately 9J. At faster walking speeds the
positive power becomes increasing large and in this case a hybrid actuation approach
may be beneficial where a small motor is used in conjunction with the spring. The focus
of this thesis is slow walking only.
-15 deg to 15 deg

Range of Motion

90 Nm

Max Joint Torque

301 Nm/rad

Ankle Spring Constant

Table 2.3 Specifications for the ankle joint of the exoskeleton that were extracted from the gait data.

22

3 Electro-Mechanical Design of Exoskeleton

The exoskeleton was designed to provide a parallel load path that transferred the weight
of the backpack directly to the ground.

The exoskeleton had sufficient degrees of

freedom to minimize kinematic constraints experienced by the wearer.

Component

design and selection for the hip, knee and ankle joints was based on the specifications
outlined in Chapter 2. The main components of the exoskeleton are shown in Figure 3.1.

Backpack

Hip Actuator

Pelvic
Harness

Knee Damper

Thigh Cuff

Foot
Attachment

Ankle Spring

Figure 3.1 The main components of the exoskeleton.

3.1

Functional Requirements

It can be concluded, from the information outlined in Section 1.1 that there is an
advantage to supporting a load that a person is carrying as well as providing them with a
forward propulsive force. From the results of the metabolic experiments discussed, as
well as the practical considerations of power requirement and noise level, a number of
functional requirements for the exoskeleton can be listed. They are,

The structure must support load of payload

The structure must be lightweight and in particular have low distal mass

The architecture must be wearable and not conflict substantially with gait

The exoskeleton must use minimum power

The exoskeleton must be as quiet as possible

The actuation must apply torques at the joints of exoskeleton and human
23

3.2

Exoskeleton Structure

The design of the exoskeleton structure had to address the fact that the structures
primary function was to support the payload and provide the mechanical interface to the
operator. A parallel orthotic structure was the basic framework used to transfer the load
from the backpack to the ground. The main structural elements consisted of standard
prosthetic aluminum tubing. This tubing was used since it is lightweight, rated for human
use, and interfaced with standard prosthetic connectors and components.
The criteria for sizing the structural elements had to take into consideration the stresses,
and also the structural stiffness.

Minimizing the size and weight of the structural

elements was traded off against maintaining structural stiffness so that the payload could
be adequately supported. The strength to weight ratio of the exoskeleton components
was maximized using finite element analysis.

Free body diagrams were used to

determine the boundary conditions that were applied in performing the analysis. Figure
3.2 shows graphical results of a stress analysis in the exoskeleton shank and thigh.

Figure 3.2 Finite element results from testing the exoskeleton thigh and shank.

3.3

Exoskeleton Degrees of Freedom

The exoskeleton was implemented with three degrees of freedom at the hip, one at the
knee, and two at the ankle. The joint ranges of motion accommodated normal human
walking.

24

Table 3.1 shows the degrees of freedom of the exoskeleton. The approach taken in the
design of the exoskeleton in this thesis was to collocate the exoskeleton and human joints
in the sagittal plane. This maximized comfort for the wearer.

Joint
Hip
Knee
Ankle

DOF
3
1
2

Description
Flexion and extension, abduction and adduction, medial and lateral rotation
Flexion
Flexion and extension, Inversion and eversion
Table 3.1 Exoskeleton degrees of freedom.

Figure 3.3 Schematic of exoskeleton structure and degrees of freedom of exoskeleton.

Flexion and extension of the exoskeleton hip was accomplished using a reali-slim
Kaydon bearing in a custom housing. A cam mechanism was implemented at the hip
joint to enable hip abduction and adduction (Valiente, 2005). The cam mechanism
automatically adjusted the exoskeleton leg length so that the human leg could freely
abduct and adduct. Medial-lateral rotation of the exoskeleton leg was allowed by means
of a rotary joint just above the knee joint. The knee joint of the exoskeleton was a
revolute joint. A revolute joint at the ankle allowed for movement in the sagittal plane
and a flexible spring steel attachment allowed relative motion between the human and
exoskeleton foot in the coronal plane.

25

3.4

Exoskeleton interface to the human

The exoskeleton interfaced to the human via shoulder straps, a waist belt, thigh cuffs, and
a shoe connection. A compliant belt interfaced the lower torso to the backpack frame and
the backpacks shoulder straps interfaced to the upper torso. The physical connection
between the exoskeleton and the human enabled the exoskeleton to passively track the
humans leg motion and kept the exoskeleton and human leg joints collocated.

standard military issued backpack, Alice Pack, carried the load. The exoskeleton was
attached to the standard military backpack through a harness. The hip joints of the
exoskeleton legs were mounted to the harness. There was sufficient clearance between
the pelvic harness and the wearer to minimize disturbance to the wearers gait.

3.4.1

Carbon Fiber Harness

The exoskeleton was attached to the standard military backpack using a harness that
allowed for mounting the hip joints of the exoskeleton. The structure was made from
carbon fiber and was attached to the backpack such that it maximized stiffness of the
structure. Interfacing the exoskeleton to the human was a difficult problem, making it
necessary to construct mockups to determine the correct geometry to ensure that the
disturbance of gait was minimized.

Figure 3.4 Foam mockup of the exoskeleton harness being tested.

The harness connected rigidly to the backpack frame to transfer the load from the
backpack to the exoskeleton. The pelvic harness was made from carbon fiber and the

26

stiffness to weight ratio was optimized using finite element analysis. The finite element
analysis was used in an iterative design process until the regions of stress concentration
were minimized and the desired stiffness was obtained. The structure consisted of a
hollow core with 1/16th inch thick layer of carbon fiber over it.

A box was also

incorporated into the harness for electronic part storage while at the same time increasing
structural integrity.

Figure 3.5 The stiffness to weight ratio of the carbon fiber harness was maximized using finite element
analysis. In a), finite element result for stress in the carbon fiber harness is shown. In b), the structure
consisting of a hollow core with 1/16th inch thickness of carbon fiber layer over it is shown.

3.4.2

Thigh brace

To enable the exoskeleton track the human leg and for requisite torques to be applied to
the human thigh, a thigh brace was required. This allowed the exoskeleton knee to
remain collocated with the human knee and also forced the exoskeleton leg to follow the
human leg movement in the coronal plane during abduction and adduction. The custom
thigh brace had molded vertical flat sides to allow for attachment to the exoskeleton leg.
The cuff was padded and Velcro was used to secure it. A spring steel plate between the
exoskeleton leg and the thigh cuff was compliant in the coronal plane and this allowed
for small misalignments between the human and exoskeleton leg. The thigh brace was
connected to the yaw joint that allowed for medial-lateral rotation of the exoskeleton leg
ensuring that it rotated with the human leg.

27

3.4.3

Foot attach

The exoskeleton foot was attached to the human foot with two pieces of spring steel. The
connection was sufficiently rigid so that it kept the exoskeleton foot in line with the
human foot and also allowed movement between it and the human foot, increasing
comfort during walking.

3.5

Final Assembly

The components for the exoskeleton, excluding the actuators for the hip joint, are shown
in Figure 3.6. The carbon fiber harness was attached to the backpack and a waist belt
secured it to the wearer. The thigh cuffs attached the exoskeleton thigh to the human
thigh and the shimano bike shoes were worn by the wearer.
CF Harness

Exoskeleton
and Cam
Assembly

Thigh Brace

Knee Joint
Shank

Spring Steel
Foot Attach

Exoskeleton
Foot

Figure 3.6 Exoskeleton components prior to assembly.

28

3.6

Actuation

This section describes the design and characterization of the actuation of the exoskeleton
joints in the sagittal plane. A linear series elastic actuator with a DC brushed motor was
used for the hip joint, a magnetorheological damper was used for the knee joint and a
compression spring was used for the ankle joint. A passive spring for adduction at the
hip joint was designed to counter moments from the exoskeleton leg on the wearer.

3.6.1

Hip Series Elastic Actuator Design

Series elastic actuators (Pratt et al., 1995) were used as they provided a means for
implementing lightweight and inexpensive force control in a bandwidth similar to that of
natural muscle. The SEA uses a spring in series with the output of the motor as shown
schematically in Figure 3.7. The spring acts as a sensor, filter and impedance limiter.
For the actuator described in this thesis the ball screw nut was coupled to the output
through four compression die-springs and the spring compression was measured with a
linear potentiometer.
Torsional
Spring
Spring
Motor/Gearbox

Output
Bearing

Figure 3.7 Rotary series elastic actuator schematic.

The specifications for actuation at the exoskeleton hip joint outlined in Section 2.3.1 were
used to design the series elastic actuator. A 150W Maxon RE40 motor was chosen for its
power to weight ratio. The ball screw and nut were Nook Industries products and the
springs used were die springs from Century Spring. Since a linear actuator was used, the
moment arm at the hip joint and the force output of the actuator determine the hip torque.
The actuator had a brushed DC motor driving a 3mm lead ball screw via a 2:1 reduction
belt drive. Figure 3.8 shows the main components of the actuator.

29

2:1 timing
belt
reduction

Maxon
RE40

Alluminum
guide rods

Attachment
to bearing
mount on
harness
SEA spring
pack and
potentiometer

Screw

Figure 3.8 CAD model of the linear series elastic actuator showing the key components.

Table 3.2 below shows the effect of the belt drive and ball screw transmission on the
motor output and the resulting maximum hip torque and velocity obtained for the
exoskeleton.

Belt Drive Reduction

Maxon RE40 Specifications
After Belt Drive
Lead Screw Reduction
Ball Screw Lead
Joint Moment Arm
Actuator Moment Arm

Transmission
none
2

Torque
(Nm)
2.5
5

Angular Velocity
(rpm)
(rad/s)
8200
858
4100
429

Lead
(m/rev)
0.003

Force
(N)
1667

Linear Velocity
(m/s)
0.21

Moment Arm
(m)
0.0762

Torque
(Nm)
127

Angular Velocity
(rpm)
(rad/s)
161
17

Table 3.2 Maximum torque and angular velocity calculations for hip joint.

30

3.6.1.1

Actuator Characterization

An actuator used at the hip of the exoskeleton experienced two operational boundary
conditions. The actuator either interacted with the environment, or it was connected to a
freely moving inertial load. These boundary conditions represent the stance and swing
phase of the walking cycle, respectively. During the stance phase, the load position can
be considered a fixed position source, and in the swing phase, the load position is defined
as a function of the force in the spring and the load mass. These boundary conditions
were addressed separately in order to determine the performance of the actuator for each
case.

Figure 3.9 Testing the hip actuators for two different boundary conditions. For the first case a), the actuator
output is fixed (clamped). In the second case b), the actuator is free and loaded with a mass of 16lbs
attached to the end which is equivalent to the inertia of the human and exoskeleton leg.

3.6.1.2

Modeling of Series Elastic Actuator

The motor model in the power domain consists of a motor amplifier, motor mass and a
viscous friction element. The motor amplifier sends a current based on a signal from the
controller, which creates a force on the motor mass. In the model it is assumed that the
electrical dynamics are fast enough so that they are negligible.

31

Figure 3.10 Actuator model showing controller and lumped parameter model (Robinson, 2000).

The lumped mass mm includes the dynamic motor mass and the mass of the transmission
elements as seen through the transmission. The motor friction is also seen through the
transmission. The reflected inertia and reflected viscous friction are N2 the actual values
where N is the transmission reduction. The motor was controlled in torque mode and the
power domain model of the system using linear force and components is shown in Figure
3.11. Feedback control of the actuator was provided by measuring the deflection of the
spring pack, which implies the force output on a load, Fl, of the actuator. The open loop
dynamic equation for the force Fl in the spring as a function of motor force and load
motion was derived using a lumped parameter model (Robinson 2000).

Figure 3.11 Lumped parameter model for the actuator (Robinson, 2000).

Equation (3.1) is the open loop transfer function for the general case. Two cases were
considered for the end condition. One was the case when the end condition is fixed (Xl is
zero) and the other was when the actuator is moving a load mass (ml). The open loop
equations for the two cases are shown in equations (3.2) and (3.3).
2

Fm ( s ) ( mm s
Fl ( s ) =
mm 2
ks s +

32

+ bm s ) X l ( s )
bm
ks s + 1

(3.1)

Fixed end condition

For this case the desired transfer function was obtained by setting Xl to zero. The
resulting transfer function between the force on the load and the force on the motor mass
is shown in equation (3.2).

Fl ( s )
1
=
Fm ( s ) mm s 2 + bm s + 1
ks
ks

(3.2)

Free end condition with a load mass

Figure 3.12 shows the change to the model for the case with the load mass on the end.

Figure 3.12 Model of the actuator showing the load mass on the end (Robinson 2000).

The transfer function was derived relating the input force on the motor mass to the force
on the load. The equation is similar to that for the case when the end condition is fixed
and as ml goes to infinity the transfer functions are the same.

Fl ( s )
s
=
b
Fm ( s ) m 3 b 2
m +m
m s + m s + ( l m )s + m
ml
ks
ks
m
l

(3.3)

The series elastic actuator was tested experimentally in the fixed end condition
configuration in order to estimate the coefficients of the transfer function. A chirp signal
was applied directly to the motor to measure the frequency response of the system. The
chirp had an amplitude of 2A and varied from 0.1Hz to 50Hz in 50 seconds. The input
command and the output force were recorded. Figure 3.13 shows the chirp input in blue
and the output force in red. The force associated with the input current was calculated
from the motor specifications and the transmission ratio. The output force was obtained
by measuring the deflection of the series spring pack.

33

Current Input (Amps) and Normalised Force Output

8
Normalised Force Output
Current Input

6
4
2
0
-2
-4
-6
-8

10

15

20

25

Time (s)

Figure 3.13 Output response (red) to an input chirp signal (blue). A 2A current chirp was commanded
starting at 0.1Hz and finishing at 50Hz.

An open loop Bode plot was plotted for the system based on the input output values
from the chirp command. The open loop response to a step was also obtained and plots
of the experimental results are shown below in Figure 3.14.
5
Input Current (Amps) and Normalized Force Output

20

Magnitude (dB)

10
0
-10
-20
-30
-40

Phase (deg)

-45
-90
-135
-180
-225
-270
10

4
3
2
1
0
-1
-2
-3
-0.4

Frequency (rad/sec)

-0.2

0.2
0.4
Time (s)

0.6

0.8

Figure 3.14 Experimental open loop response for the fixed end condition. In a), the open loop Bode plot of
system and b), the response to step input of 4A.

The magnitude of peaking in the frequency domain, Mp and the frequency at which it
occurs, p were determined from the Bode plot. Assuming a second order system, this
allowed the natural frequency, n and damping coefficient, to be estimated. The system
had 19.3 degrees of phase margin at 43.6rad/s. The step response of the open loop
system resembles an under damped spring-mass system as can be seen in Figure 3.14.
The peak overshoot, Po and the damped natural frequency, d were measured and and
n were again estimated. So an average value for and n were calculated from the two
methods and the values are listed in Table 3.3
34

Frequency Response

Step Response

Average

Mp

2.71

31.3

Po

1.68

32.2

31..7

30.7

0.19

31.9

0.12

0.16

Table 3.3 Experimentally obtained system parameters and calculated natural frequency and damping
coefficient. All frequencies are in rad/s.

From the values obtained for n and the parameter values of the lumped parameter
model of the physical system were estimated and are listed in Table 3.4.
Equivalent mass, mm (kg)

311.9

Spring constant, ks (kN/m)

31.3

Equivalent damping, bm (kNs/m)

3.1

Table 3.4 Physical values of the elements in the lumped parameter model.

A comparison of the experimental and theoretical open loop Bode plots for the system
with the fixed end condition is shown in Figure 3.15a. There is some discrepancy
between the model and the experimental data and this can be attributed to the fact that the
system was not a perfect second order system. However, the model was sufficient for the
design of a controller to control the force of the actuator. Experimental data are not
shown for the free end condition with a load mass but the theoretical Bode plot is shown
based on the physical parameters in Table 3.4 and an estimated load mass of 350kg.
20

20

Experimental Bode Plot

Magnitude (dB)

0
Magnitude (dB)

10

2nd Order Bode Plot

-20

-40

0
-10
-20
-30

-60
0

-40
45
0
Phase (deg)

Phase (deg)

-45
-90
-135
-180

-45
-90
-135

-225

-180

10

10

10

Frequency (rad/sec)

10
Frequency (rad/sec)

Figure 3.15 In a), the experimental and theoretical Bode plots for the series elastic actuator for the fixed
end condition are shown. In b), the theoretical Bode plot for the load mass end condition is shown.

35

3.6.1.3

Closed Loop Force Control and Characterization

The controller design principles used for the closed loop control of the SEA were
obtained from Robinson (2000). A PD controller is suggested as the means to control the
output force of the SEA where the deflection of the series spring pack is measured with a
linear potentiometer. Figure 3.10 showed the closed loop system and output force being
fed back and subtracted from the desired force.
It was possible to control the actuator with a pure proportional controller alone. This
worked well for the free end condition but did not work well for the case where the end is
fixed. With pure P control if the system hit a hard boundary it bounced back due to the
large impact force seen in the sensor (spring) and the resulting large error signal with
opposite sign. Further, using purely proportional control it was observed that the actuator
would limit cycle if it was held up against the end stop of the actuator. However, for a
controllable actuator it was desired that the actuator be stable at the point where a
collision occurred.
The chosen solution was to have a feed-forward term in conjunction with a PD controller
where the D term was a band limited differentiator with a cutoff at 100Hz. It was found
that the controller performed well for both the free and fixed boundary conditions. A
disadvantage of this was that the performance of the free movement of the actuator was
degraded. The P and D gains could only be increased so far before the high frequency
noise in the sensor signal was amplified. The force feedback signal from the linear
potentiometer was also filtered with an analog low pass filter and a digital median filter
which are discussed in chapter 4.
Closed loop performance with fixed end condition
In order to determine the closed-loop bandwidth of the actuator the end of the actuator
was fixed and a sine wave chirp in force was applied from 1Hz to 100Hz. Figure 3.16
shows both the experimental and theoretical closed loop Bode plots. The experimental
and theoretical -3dB points are very close and are at approximately 226/rad/s (36Hz).

36

10

Magnitude (dB)

-10

-20

-30
0

Phase (deg)

-45
-90
-135
Experimental
-180

Theoretical

-225
1

10

10

Frequency (rad/sec)

Figure 3.16 Experimental and theoretical closed loop Bode plot of the actuator for the fixed end condition.
Experimentally the actuator was found to have a closed loop bandwidth of 226 rad/s (36Hz).

The proportional and derivative gains of the controller were tuned experimentally by
examining the step response of the actuator and the ability of the actuator to track a sine
wave in force. Figure 3.17 shows the response to a step of 1600N and the actuator
tracking a sine wave in force of 1600N at 5Hz.
1800

2000

1600

commanded
actual

1500

1400
1000

1200
500
Force (N)

Force (N)

1000
800
600

0
-500

400
-1000

200

Step input of 1600N

SEA response to step

0
-200
0.95

1.05

1.1
time (s)

1.15

1.2

-1500

1.25

-2000
2.5

2.6

2.7

2.8

2.9

3
3.1
Time (s)

3.2

3.3

3.4

3.5

Figure 3.17 Closed loop testing of actuator. In a), the response to a step of 1600N. In b), tracking a sine
wave of 1600Nm at 5Hz. 1666N (375lbs) is the max force that the actuator is designed to output.

Due to the mass-spring resonance, and limited voltage and current, a series elastic
actuator is limited in its ability to command large forces at high frequencies. The

37

resonance defines the frequency at which the actuator begins to decrease in large force
performance. To examine this, the actuator was commanded to oscillate through the
frequency spectrum at 1600N with the output end of the actuator fixed. Figure 3.18
shows the results of the experiment with the actuator performance dropping off at about
50rad/s (8Hz).

Force Output (N)

10

10

10

10
Frequency (rad/s)

Figure 3.18 Large force bandwidth of actuator. As the magnitude of oscillation increases, the motor
saturation dominates the large force capabilities of the actuator.

Closed loop performance with load mass

The actuator was required to apply a torque to the human and exoskeleton leg during the
swing phase of the walking cycle.

As a result, an experiment was performed to

determine the closed loop bandwidth of the actuator for the case of applying a force to a
free load mass in space. Shown in Figure 3.19 are the experimental and theoretical
closed loop Bode plots of the actuator with the free load mass end condition. The -3dB
point for the experimental curve is 253rad/s (40.3Hz) and the theoretical model is
230rad/s (36Hz). The plots are not as well matched as the case for the fixed endcondition. This is likely due to errors in the estimates of the physical parameters of the
system, unmodelled dynamics as well as excessive compliance and backlash in the
experimental setup.

38

10

Magnitude (dB)

5
0
-5
-10
-15
-20
90
experimental
theoretical

Phase (deg)

0
-90
-180
-270
1

10

10

Frequency (rad/sec)

Figure 3.19 Experimental and theoretical closed loop Bode plot of the actuator with an equivalent load
mass of 350kg. Experimentally the actuator is found to have a closed loop bandwidth of 253rad/s (40.3Hz).

It was shown in Section 3.6.1.2 that the case of applying a force to a large mass in space
is similar to the case of the fixed end condition for large masses. This is true because the
actuator was used at an articulated joint and the linear equivalent of the rotary inertia is
scaled by the square of the moment arm. In order to validate this theory a number of
simple tests were performed. Below is a plot showing the actuator tracking a hip torque
of 100Nm at a frequency of 5Hz with an equivalent mass to the human and exoskeleton
leg. The experimental setup is shown in Figure 3.9b.
100

Hip Torque (Nm)

50

-50

-100

10

commanded
actual
10.1

10.2

10.3

10.4

10.5 10.6
Time (s)

10.7

10.8

10.9

11

Figure 3.20 Closed loop testing of actuator. The actuator was mounted on the test arm with a mass of
7.2kg on the end. It was then commanded to track a sine wave in torque of 100Nm at 5Hz.

39

In order to determine if the actuator had sufficient force and power capability to power
the human and exoskeleton, a test was performed where the actuator was commanded to
track a trajectory similar to the human hip trajectory in walking. The test was performed
on the bench with an equivalent mass on the end of the arm. A digital PD control loop
was used for the controller where the gains were tuned experimentally. It can be seen
that the arm was capable of tracking the human hip trajectory with an equivalent leg
inertia.
25
20

Hip Angle (Deg)

15
10
5
0
-5
-10

commanded
actual

-15
14.3

14.4

14.5

14.6

14.7 14.8
Time (s)

14.9

15

15.1

15.2

Figure 3.21 Closed loop position control testing. The actuator was commanded to track a trajectory similar
to that of the human hip joint in walking.

3.6.1.4

Impedance of Actuator

With the motor turned off the force in the spring due to load motion can be derived. It
can be seen that at lower frequencies the impedance has an equivalent mass characteristic
because it is rising at 40db/dec. At higher frequencies the impedance is the spring
constant of the sensor. At the high frequencies shock loads are filtered through the spring.

40

3.6.2

Knee Magnetorheological Damper

During slow human walking, the knee largely dissipates energy where minimal positive
power is exerted as was seen in Section 2.3.2.

The knee of the exoskeleton was

implemented with a magnetorheological damper with the fluid used in the shear mode
similar to that of Herr and Wilkenfeld (2003). In order to determine the maximum
braking torque of the damper a number of weights were hung off a lever arm at various
levels of commanded current and the braking torque of the damper was recorded for each
case.

It was found that the device could exert a maximum braking torque of

approximately 50Nm as can be seen from Figure 3.22.

50
45
40

Knee Torque (Nm)

35
30
25
20
15
10
5
0

0.2

0.4

0.6

0.8
1
Knee Current (A)

1.2

1.4

1.6

1.8

Figure 3.22 Braking torque of the magnetorheological damper vs. commanded current to the damper.

A current command sent to the knee powered an electromagnet that created a magnetic
field across the plates in the knee and the magnetorheological fluid between them. The
fluid consisted of iron particles and the blades of the knee were steel. When a magnetic
field was applied to these materials some magnetism remained within their structure.
This is called residual magnetism (hysteresis) and is defined as the flux density remaining
in a material after the magnetizing force has been removed. The intensity of the residual
magnetism depends upon various factors such as the metallurgy of the steel, the intensity
of the magnetic field source, the magnetic circuit and the material temperature.
Any residual magnetism in the magnetorheological damper created a residual torque that
impeded the swinging of the human leg during the swing phase of the gait cycle. As a
41

result the damper had to be demagnetized before the swing phase. One method of
demagnetizing a structure is to carry out a special demagnetization approach after the
normal de-energize operation, i.e. current command of zero. One such demagnetization
cycle is to cycle the commanded current to the electromagnet through gradually
decreasing values. This can be done by having an exponentially decaying sine wave in
current that decays to zero. However, the time available for demagnetization during the
gait cycle was approximately 250ms and so due to this time constraint and the relatively
slow electromechanical time constant of the knee another method of demagnetization was
required. The method used was to send a pulse in current of opposite sign to the current
that previously magnetized the knee. For the magnetorheological damper a pulse with an
amplitude of 1A and a duration of 50ms was used and a comparison of this to an
exponential demagnetization over 5 seconds is shown in Figure 3.23.
0.5
Exponentially demagnetized
Residually magnetised
Pulse demagnetized

Knee Torque (Nm)

-0.5

-1

-1.5

-2

-2.5
-0.5

0.5
1
1.5
Angular Velocity (rad/s)

2.5

Figure 3.23 Comparing pulse demagnetized knee with the exponentially demagnetized and the residually
magnetized cases.

The torque on the knee and the angular velocity shown in Figure 3.23 were recorded as
the exoskeleton leg swung freely through ninety degrees. The results show residual
magnetization in the damper due to the fact that when the knee was exponentially
demagnetized (black) the torque was much less than the case without demagnetization
(red). The green data shows the resulting torque-velocity data for the case of pulse
demagnetization and it can be seen that this demagnetization result was comparable to
that when exponential demagnetization was performed.

42

3.6.3

Passive Ankle Spring

For slow walking, it has been shown that the ankle behaves like a spring (Palmer 2002).
Initial bench level testing revealed that restricting controlled plantarflexion made it
uncomfortable to walk. This was a result of the fact that the knee flexing moment at
early stance is significantly higher with a locked ankle than that with a plantar free ankle.
A high knee flexing moment results from the fact that in order to achieve foot flat with a
locked ankle, greater knee and hip flexion occur during the stance phase. The effect of
this is to push the knee joint center further forward.
For the exoskeleton, a linear spring located at the ankle joint was designed to capture the
negative energy during controlled dorsiflexion. This energy was subsequently released to
assist the exoskeleton foot in plantarflexion as the foot came off the ground. This rotary
ankle spring was implemented by having a lever compress a linear urethane spring as
illustrated in Figure 3.24.

Figure 3.24 Energy is stored in the red uni-directional ankle spring as it is engaged in mid-stance and the
shin rocks forward. The energy in the spring is released to assist power plantar flexion.

The implementation of the unidirectional spring is shown below in Figure 3.25. Urethane
was used for the spring material as it is lightweight. The linear spring was seen at the
ankle joint as an effective rotary stiffness and the linear spring constant was transformed
through an effective transmission due to the lever. The spring constant was 247kN/m and
the lever arm was 0.0381m (1.5 in) which gave a joint rotary stiffness of 356Nm/rad.
The ankle joint of the exoskeleton was 1.5 inches below the human ankle joint which was
not ideal. The exoskeleton foot was attached to the shoe by means of two spring steel
pieces located at the front and the back of the shoe. The heel of the exoskeleton foot and
the shoe were aligned so that on heel strike both feet came into contact with the ground
at the same time.
43

Uni-directional
urethane spring

Exoskeleton shank

Spring steel
connection

Non-colocated
exoskeleton ankle joint

Exoskeleton carbon fiber foot

Figure 3.25 Exoskeleton foot and the shoe worn by the wearer. The urethane compression spring is shown
that is used to store the negative energy during dorsiflexion that is released during powered plantarflexion.

3.6.4

Hip Passive Adduction Spring

When the exoskeleton wearer stood on one leg, a moment was created by the backpack
load since it was off center from the biological hip joint. This moment was undesirable
and caused discomfort. To solve this problem a linear compression spring was placed at
the hip joint of the exoskeleton so that it would compress to counter this moment during
hip adduction. It was unidirectional so it allowed the hip to freely abduct. The design for
the adduction spring is shown in Figure 3.26. The spring was kept in place by means of a
keeper that was attached to the exoskeleton hip joint assembly. The keeper was attached
to the sagittal plane bearing so that the keeper rotated with the exoskeleton leg. A brass
plunger fitted through a hollow spring that was kept from falling out by means of a nut
that threaded on to the end of the plunger.

44

Exoskeleton
hip joint

Die Spring

Exoskeleton
leg

Threaded end

Brass plunger
Spring
keeper
Figure 3.26 Section view of the adduction spring assembly at the hip joint.

The rotary spring constant for adduction was obtained by using a free body diagram of
the exoskeleton leg during single support to calculate the moment felt at the hip joint.
This was calculated to be 8Nm. Then by examining human walking data it was assumed
that the human leg undergoes approximately five degrees of adduction during normal
walking. From these two values an effective rotary stiffness of 96Nm/rad was calculated.
This was achieved by means of a linear spring of value 425kN/m compressed by a lever
arm of 15mm.

3.7

Exoskeleton Prototype Improvements

After initial testing of the exoskeleton two major changes were made to the design. The
first was a new design for the foot and ankle joint and the second was a flexible spine to
attach the backpack to the harness.

3.7.1

Foot and Ankle Revision

The initial design allowed the payload of the exoskeleton to be transferred to the ground
but it significantly increased the foot print of the wearer and did not collocate the human
and exoskeleton ankle joints. The revised design improved on the initial design by
collocating the exoskeleton and human ankle joints. Also, the exoskeleton foot was

45

integrated into a standard military boot greatly, reducing the footprint to that of a
standard military boot. As well as this, the military boot had its standard rubber heel
removed and replaced with a tuned carbon composite leaf spring. This spring acts to
store energy on heel strike that is later released to help the human foot come off the
ground. Another benefit of the heel spring is that it adds improved shock absorption on
heel strike and this minimizes shock loads on the human joints.

Exoskeleton
Shank

2 Springs
(Controlled
Plantarflexion and
Dorsiflexion

Colocated
Ankle Joint

Plate for
mounting to
modified to
military boot

Figure 3.27 Revised foot and ankle design.

In the previous exoskeleton foot design an elastomeric bumper was placed at the ankle to
store energy during dorsiflexion and release this energy to assist in powered plantar
flexion. The figure below shows the location of the springs in the new ankle design. Two
springs, one for controlled plantarflexion (blue) and one for dorsiflexion (red) are placed
in the green spring holder. A lightweight rod compresses the appropriate spring during
the gait cycle. Analysis showed that the rod will not break in tension or buckling with
factors of safety of 4.4 and 2.7 respectively.

46

3.7.2

Biomimetic exoskeleton spine

The motions of the legs are coordinated with motions of the spine, shoulders, and arms.
Spine, shoulder and arm motions make walking efficient by reducing braking motions
transmitted through the legs and pelvis to the upper body. Energy expenditure in walking
is increased if the back is immobilized and rotational motions of the pelvis and shoulders
are eliminated. It has been shown that this kind of restriction of the motions associated
with walking requires a higher metabolic rate for walking (Carlsoo, 1972). To allow
more freedom for the subject during walking, the backpack frame, which was rigidly
attached to the hip harness in the exoskeleton, was replaced by a flexible spine, see
Figure 3.28. The backpack is supported by the top horizontal shaft of the spine. This
shaft joins with a deformable tube that allows the exoskeleton spine to align with the arch
of the subjects spine. A coupler joins the deformable tube to a flexible shaft. The
coupler contains a V-groove in order to adapt to various shafts of different diameters and
stiffnesses. The flexible shaft fits into a yaw coupler that rotates freely about the vertical
axis. A second horizontal shaft clamps onto the yaw coupler.

Deformable
tubing
fitted to
subject
Coupler

Flexible
Shaft

Clamps adaptable for shafts

of different sizes

Plate bolts to
exoskeleton
harness

Yaw
Coupler

Prevents
backpack sway

Figure 3.28 Exoskeleton spine to attach the backpack to the harness.

47

The human pelvis rotates during normal walking. The yaw joint at the base of the spine
of the exoskeleton that is connected to the pelvic harness allows the spine (and the
backpack that is attached to it) to rotate as the human pelvis rotates. As well as this the
flexible shaft bends during walking allowing pelvic obliquity and tilt. By minimally
constraining normal human movement the metabolic effect the exoskeleton has on the
wearer can be minimized

48

4 Controller Implementation
The exoskeleton was controlled by reading various sensor values into a central computer
mounted on the exoskeleton. Based on these sensor values the appropriate actuation was
applied by the hip series elastic actuator and knee variable-damper mechanism. This
chapter outlines the electronics hardware used on the exoskeleton and also describes the
control strategies at the hip and knee.

4.1

Electronics Test Bed

The exoskeleton was made autonomous by means of an onboard computer with a data
acquisition card, power supply and motor amplifiers. The system was powered by a 48V
battery pack. Custom signal conditioning boards amplified sensor readings and provided
a differential input to the data acquisition board, in order to minimize common mode
noise from pick-up in the system. A custom breakout board interfaced the sensors to the
D/A board on the PC104 as well as provided power to the signal conditioning boards.
The amplifiers for the actuator and variable damper mechanism were 48V digital
amplifiers from Copley Controls.

Copley Motor
Amps

Actuators

48V > +-12V

DC/DC

Breakout
Board

Instrumentation

Actuator
Potentiometers

48V > 5V
DC/DC

PC104 A/D
and D/A

Joint
Potentiometers

Shank Strain
Gauges

48V Battery
Pack

Dampers

Figure 4.1 Schematic of the electronic components. The system consisted of two actuators at the hip
and two dampers at the knee but only one of each is shown here for clarity.

49

4.1.1

PC 104 and Data Acquisition

The PC used was a MICROSPCACE PC/104 from Digital Logic. It was a miniature
modular device that incorporated most of the major elements of a PC compatible
computer in a small form factor. It was fitted with a PENTIUM III 700 MHz processor.
A PC/104 format data acquisition board, Diamond-MM-32-AT, from Diamond Systems
was connected to the PC/104. It had 32 total analog inputs and 4 analog outputs. The
board was configured for 16 differential analog inputs in software and on the board with
jumpers.
Matlab xPC Target was used to run the algorithm for real-time control and data
acquisition. The Matlab xPC real-time kernel was installed and run on the PC/104
(remote PC) which was attached to the exoskeleton.

A model was created using

Simulink Matlab xPC Target, which allowed I/O blocks to be added to the model. The
model was compiled on the host PC using Matlab Real-Time Workshop and a C++
compiler created executable code. The executable code was downloaded from the host
PC to the target PC via TCP/IP and the code was run on the target in real-time. Data
were recorded by using the xPC host scopes in the Simulink model. After running the
experiment the host PC was connected to the target PC to download the data.

4.1.2

Actuator Amplifier Boards

The amplifiers used in the system were general purpose digital servo amplifiers from
Copley Controls. They can be used in brushed and brushless mode and offer current,
position and velocity control modes, the latter two based on encoder input from the motor
to the amplifier. For controlling the series elastic actuators the Accelus model ASP-09018 was used. It is rated for a continuous current of 6 Amps and a peak current of 18
Amps. This model was chosen based on the maximum continuous current for the RE40
motor being 3.33 amps. The Accelnet Micro Module was used to control the knee
variable-damper mechanism and it is similar to the Accelus model but it comes in a PCB
mount version which has a much smaller form factor. A custom PCB breakout board
interfaced to the Accelnet board. The amplifiers were programmed via RS232 using the
CME 2TM software from Copley.

After entering the motor specifications into the

50

software, the current loop P and I control gains were determined by using the current loop
auto-tune feature in the software. The continuous and peak current limits were entered in
the software to protect the actuators while tuning the closed loop force gains in the early
stages. The amplifier control parameters were then saved to flash memory and the
RS232 connection was terminated.

Figure 4.2 In a), the Accelus digital amplifier used at the hip is shown. In b), the PCB mount Accelnet
mico-module used at the knee required a breakout board. In c), the custom breakout board for the Accelnet

4.1.3

Signal Conditioning

The sensors on the exoskeleton were read into the computer as analog voltage signals.
There was significant noise pick-up on the relatively long connection cables from the
sensors on the exoskeleton due to the amplifiers, motors and dampers. In order to
achieve a good signal to noise ratio the sensor raw voltage readings were amplified with a
differential line driver and the signal was also filtered with an analog low pass filter with
a cut off at 1.5kHz.
Breakout
board
connection

Offset pot

Sensor
connection

Figure 4.3 Signal conditioning board. One side reads in the voltage from a strain gauge bridge or
potentiometer. The other connector differential power to the board and sends an amplified differential
signal to the breakout board that gets read by the D/A board.

51

4.2

Sensing

The exoskeleton was instrumented with sensors in order to detect state transitions for real
time control of actuation at the hip and knee. The angles of the exoskeleton hip and knee
joints as well as the hip torque were recorded. Strain gauges on the structure of the
exoskeleton shank measured the bending moment of the shank as well as the vertical
force borne by exoskeleton leg.

Hip
Potentiometer

Knee
Potentiometer

SEA Spring
Potentiometer

Straingaues to
measure shank
moment and
force

Thigh cuff
force sensor

Figure 4.4 Sensors on the exoskeleton leg.

4.2.1

Angle Sensing

The angle of the hip (thigh relative to pelvic harness) and the knee (shank relative to the
thigh) were measured using rotary potentiometers. The signals from these potentiometers
were amplified and filtered using the signal conditioning board in potentiometer
configuration, with a gain of 1.

52

Hip timing
belt on
inside of
harness

Figure 4.5 Hip angle sensing was done by means of a timing belt and pulley with a 2:1 reduction on a
Bournes rotary pot. The belt system was attached to the hip joint on the inside of the harness as shown.

4.2.2

Hip Torque Measurements

The hip torque produced by the actuator was acquired by measuring the deflection of the
spring pack of the series elastic actuator. The torque at the hip joint was calculated by
multiplying the linear force measured with the potentiometer by the moment arm of the
actuator. This measurement was used for the closed loop control of the actuator.

4.2.3

Ground Exoskeleton interaction sensing

Strain gauges placed on the structure of the exoskeleton shank were used to measure the
bending moment of the shank as well as the vertical force in the exoskeleton leg. The
signals from the strain gauges were amplified and filtered using the signal conditioning
board in the strain gauge configuration with a gain of 500. The moment in the shank was
calculated by subtracting the signals from the two bridges and the vertical load was
calculated by adding the two signals. Figure 4.6 illustrates this and equations 4.1 and 4.2
were used to calculate the force and moment respectively. The gains, kf and km were
determined experimentally by calibrating the raw voltage with known weights.

53

FSHANK

MSHANK

Strain gauge
bridges

FORE
AFT
MANKLE

Ankle Joint

Urethane
Spring

Figure 4.6 Schematic of exoskeleton shank and foot.

FSHANK = ( AFT + FORE ) * k f

4.2.4

(4.1)

M SHANK = ( AFT FORE ) * k m (4.2)

Human Exoskeleton interaction sensing

For the purpose of measuring the interaction force between the human thigh and
exoskeleton leg, a custom sensor was built. The sensor consisted of a spring pack and the
deflection of the springs was measured with a spring loaded linear potentiometer. The
device, shown in Figure 4.7, consisted of die springs, shown in orange, that get
compressed due to relative movement of the two parts (one attached to the exoskeleton
leg and the human leg) and the displacement was measured with a potentiometer, giving
a reading of the force.
One reason for measuring the force at the thigh was that a control strategy could be
implemented whereby a motor at the hip could servo the exoskeleton to zero the force felt
at the thigh. This would effectively make the exoskeleton get out of the way of the
wearer. Additionally, the measured interaction force at the thigh could be used with the
thigh velocity to estimate the power transfer between the exoskeleton and the wearer.
The velocity at the thigh could be calculated by differentiating the angular position of the
hip joint.
54

Attached to thigh
cuff on wearer

Attached to
exoskeleton leg

Linear
potentiometer

Die Spring

Figure 4.7 Thigh cuff sensor for measuring the force between the exoskeleton and human thigh.

4.3

Control Strategies

The controller for the exoskeleton was required to perform actuation at the hip and knee
based on knowledge of the current phase of the gait of the wearer. A state machine
control strategy was implemented based on angle and force sensor readings of the
exoskeleton. Human walking kinematic and kinetic data motivated the actuation to be
commanded in the individual states. Figure 4.8 outlines the desired actuation as a
function of gait cycle.

HIP
KNEE
ANKLE

Thrust
Knee On
Ankle free

Extension Spring

Swing Assist

Demagnetize Knee
Spring compression and release

Leg Retraction
Knee Off
Ankle free

Figure 4.8 Summary of the actuation control of the exoskeleton leg as a function of gait cycle with an
actuator at the hip and a variable-damper mechanism at the knee. The ankle is completely passive but is
included for completeness.

55

1) Hip
For the Thrust phase, the actuator at the hip exerted a torque to help raise the center of
mass of the exoskeleton and human. During the next phase, Extension Spring, a virtual
spring was programmed that was compressed as the center of mass of the exoskeleton
moved forward. As the leg changed direction the Swing Assist phase was entered where
the energy was released from the virtual spring, and a torque was applied to assist in
swinging the leg forward. Leg Retraction was entered after full hip flexion and a torque
was applied to assist in foot placement and weight acceptance.
2) Knee
Knee On occurred at heel strike and the variable-damper mechanism was programmed to
exert a torque proportional to the rotational velocity of the knee joint. Two different
gains were used, depending on the velocity sign, to control knee rotation for knee flexion
and extension. After the knee was turned off there was a residual magnetic field, and
hence a resistive torque, that impeded the swinging of the wearers leg. The knee was
turned off and demagnetized when the knee joint was locked at full extension during the
late stance phase. The demagnetization procedure was described in section 3.6.2. After
this phase the variable-damper mechanism was turned off throughout the entire swing
phase.

4.3.1

Knee Controller

The state-machine controller for the knee processed knee angle and force and moment in
the exoskeleton leg to define four stages of the walking cycle. Knowledge of these states
provided periods of the gait cycle when the desired action of the variable-damper
mechanism at the knee was known. Table 4.1 lists the states and the sensor readings that
were used as triggers to switch between states and Figure 4.9 graphically shows the statemachine operation. An Off state was implemented so that any time the leg was raised off
the ground, and the load in the exoskeleton leg approached zero, the variable-damper
mechanism was turned off, allowing the knee to bend freely.

56

State

Description

Trigger

Not walking and leg is unloaded Load in exoskeleton leg

Stance Flexion and Extension

Load in exoskeleton leg

Pre-swing

Knee angle and moment in exoskeleton leg

Swing Flexion

Load in exoskeleton leg

Swing Extension

Knee angle

Table 4.1 Description of states and their respective triggers for the state-machine of the knee controller.

Moment Threshold
Stance

Pre-swing

Off

Leg Loaded

Leg Unloaded

Swing
Flexion

Swing
Extension

Maximum Knee Angle

Figure 4.9 State-machine diagram for the knee controller.

Figure 4.10 shows data collected from the exoskeleton leg as a function of gait cycle. It
shows the knee angle as well as the force and moment in the exoskeleton shank. The
states of the knee controller are superimposed on the plot in grey. The data are plotted vs.
percent gait cycle and it goes from heel-strike to next heel-strike of the same limb. It can
be see that on initial heel-strike the force in the shank rises rapidly. When this force
passed a set threshold, the knee entered the first state where a virtual damper was
implemented. Pre-swing can be seen to be entered when the moment in the shank
reached a certain threshold and it is in this state that demagnetization of the knee
occurred.

As the leg left the ground as the swing phase began, the load in the

exoskeleton shank dropped to near zero triggering Swing Flexion.

57

The knee state-

machine entered the final state Swing Extension when maximum knee flexion was
reached.
Knee Angle (Deg)

Knee Angle
60
40
20
0
0

10

20

30

40
50
60
70
Percent Gait Cycle
Load in the Exoskeleton Shank

80

90

100

10

20

30

80

90

100

10

20

80

90

100

Load (N)

600
400
200

Moment (Nm)

40
50
60
70
Percent Gait Cycle
Moment in the Exoskeleton Shank

0
-20
-40
30

Stance Flexion and

Extension

40
50
60
Percent Gait Cycle

Pre-swing

70

Swing
Flexion

Swing
Extension

Figure 4.10 Sensor data from the exoskeleton leg for a single gait cycle. States 1 to 4 of the controller are
superimposed on the plot.

For steady state walking, the state machine cycled through states 1 to 4 as shown in
Figure 4.11. The figure shows real-time data for an 18 second period of a walking trial.
The state is superimposed in red. It was found that the controller worked robustly for all
the experimental walking trials performed for subject testing. The figure also shows the
state-machine operation while the person is no longer walking but shuffling or turning
around. The controller goes back and forth between state zero, where the leg is off the
ground, and state one, where the leg is on the ground. Once walking resumed the
controller began cycling through the states associated with walking in less than one gait
cycle.

58

Knee Angle

Knee Angle (Degrees)

80
60
40
20
0
-20

10

12

14

16

18

20

22

24

26

20

22

24

26

20

22

24

26

Time(sec)
Load in the Exoskeleton Shank
600
500

Load (N)

400
300
200
100
0

10

12

14

16

18
Time(sec)

Shank Moment in the Exoskeleton Leg

50

Moment (Nm)

40
30
20
10
0
-10

10

12

14

16

18
Time(sec)

Figure 4.11 The state machine for the exoskeleton knee in operation. The data shows the person walking
normally, then shuffling as they turn around and then walking some more.

4.3.2

Hip Controller

The state-machine controller for the hip used the hip angle and the force in the
exoskeleton leg to define five stages of the hip during the walking cycle. Figure 4.12
illustrates these states as well as the triggers used to switch between states. State 1 is
Late Stance Extension as this was deemed to be the most repeatable trigger to determine
that walking had started.
State Description

Trigger

Not Walking

Timeout

Late Stance Extension

Negative velocity when angle is less than zero

Early Swing Flexion

Change in sign of velocity

Late Swing Flexion

Angle is greater than some threshold

Leg Retraction

Change in sign of velocity

Early Stance Extension

Force threshold in leg

Table 4.2 Description of states for hip controller.

59

Angle
Threshold

Early Stance
Extension
Leg
Loaded

Min Hip
Angle

Late Stance
Extension

Early Swing
Flexion

Not
Walking

Angle
Threshold
Leg
Retraction

Late Swing
Flexion
Max Hip Angle

Figure 4.12 State machine diagram for the hip controller.

Figure 4.13 shows data collected from the exoskeleton leg as a function of gait cycle.
The states of the hip controller are superimposed on the plot. The controller for the hip
entered the first state, Late Stance Extension, as the hip angle dropped to a certain
threshold. The controller remained in this state until it reached a minimum value. This
minimum value was detected when the velocity of the hip joint went to zero and the
Early Swing Flexion state was then entered. The velocity was calculated by means of a
band-limited differentiator so as not to differentiate the high frequency noise component
of the angle signal. Late Swing Flexion was entered as the hip angle rose to the same
angle threshold as that which triggered Late Stance Extension. The next state, Leg
Retraction, was entered when the velocity was again zero; this was when the angle
reached a maximum value. The final state, Early Stance Extension, was triggered when
the load in the exoskeleton leg rose above a pre-determined threshold.
For steady state walking, the state machine cycled through states 1 to 5 as shown in
Figure 4.14. Like the knee controller, walking trials proved that the state machine
worked robustly. The figure illustrates that as the subject stopped and turned around the
controller entered, and remained in, the Not Walking state until walking resumed. Once
walking did begin the controller detected it in less than one gait cycle.
60

Hip Angle

Hip Angle (Deg)

40

20

-20

10

20

30

40
50
60
70
Percent
Gait Cycle
Time(sec)
Load in the Exoskeleton Shank

80

90

100

10

20

30

80

90

100

Load (N)

600

400

200

Early Stance
Extension

40
50
60
Percent
Gait Cycle
Time(sec)

Late Stance
Extension

70

Early
Swing
Flexion

Late
Leg
Swing Retraction
Flexion

Figure 4.13 Sensor data from the exoskeleton leg for a single gait cycle. The exoskeleton hip angle and
load in the exoskeleton leg are shown. States 1 to 5 of the hip controller are highlighted.
Hip Angle
Hip Angle (Degrees)

60
40
20
0
-20

10

12

14

16

18
20
22
Time(sec)
Load in the Exoskeleton Shank

24

26

28

10

12

14

16

24

26

28

Load (N)

600

400

200

18
20
Time(sec)

22

Figure 4.14 The state machine for the exoskeleton hip in operation. The data shows the person walking
normally, then shuffling as they turn around and then walking some more.

61

The control strategy for the hip was discussed at the start of Section 4.3. During the
different states an appropriate torque was produced by the actuator at the hip to assist in
walking. This was implemented by having the actuator apply a force in proportion to an
error from a desired angle, thereby simulating springs during different periods of the gait
cycle. A GUI is shown in Figure 4.15 that was used to experimentally tune the values for
the various phases of the gait cycle. A different virtual spring constant was used for each
of the different phases of the gait cycle defined by the state-machine. The output force
was filtered through a low-pass filter to smooth the torque output applied by the actuator.
The GUI also allowed for easy configuration of the force and angle thresholds set for the
state-machine controllers of the hip and knee.

Figure 4.15 GUI used to vary the parameters for gait cycle state-machine tuning.

62

5 Experimental Methods
This chapter describes the detailed methodology of the human experiments and outlines
the experimental methods and metrics for quantifying the metabolic cost. Data collection
was spread over a number of days to avoid fatigue effects. Experiments were performed
for a number of actuation methods for the exoskeleton as well as a control where a
subject walked with a backpack load of 75lbs.

5.1

Experimental Subjects

The subject for the metabolic experiments was the author of this thesis. The subjects
relevant information and anthropometric measurements can be found in Table 5.1.
Participant
[n]
1

Author

Age

Sex

Mass

Leg Length

Walking Speed

[yr]

[M/F]

[kg]

[m]

[m/s]

23

76

0.93

Table 5.1 Experimental participant data.

5.2

Data Collection

Metabolic data were collected during a set of walking experiments where walking speed
was controlled by means of a modified golf caddy. Metabolic cost was quantified by
measuring the volume of oxygen (VO2) that the human consumed while performing an
experiment.

Measuring metabolic cost is appropriate since there is a proportional

relationship between the mechanical work done by the human and metabolic cost
(Donelan, 2002). Kinematic and kinetic data of the exoskeleton were also recorded.

5.2.1

Measurement of Energy Cost

The energy cost was estimated from O2 consumption and CO2 production measured with
a portable K4 telemetric system (Cosmed, Italy) (Hausswirth et al., 1997). The K4
system included a portable unit worn by the subject and a base station where the data was
recorded. The portable unit weighted 1.5kg and consisted of a silicon mask containing a

63

flow-rate turbine which was fixed to the subjects face. A processing unit containing the
O2 and CO2 analyzers was placed on the subjects chest and a transmitter/battery pack
was placed in the backpack. The day of each trial the turbine was calibrated with a 3l
syringe, and a two point calibration of the O2 and CO2 analyzers was carried out using
ambient air and a standard calibration gas mixture (5% CO2, 16% O2, 79% N2).

5.2.2

Measurement of Walking Speed

In order to achieve consistent metabolic data it was important that the subject walked at a
constant known walking speed. The speed for a trial was set with an electric, speed
adjustable golf caddy. The carts motor was instrumented with a voltmeter and the
voltage applied to the motor was measured. This voltage was calibrated to speed by
setting the applied voltage to the motor and recording the time to travel a known distance.
The calibration curve was shown in Figure 5.1.
1.8
1.6

data 1
linear

y = 0.191*x - 0.0661

1.4

Velocity (m/s)

1.2
1
0.8
0.6
0.4
0.2
0

4
5
Voltage (V)

Figure 5.1 Caddy velocity calibration.

5.2.3

Kinematic and Kinetics Measurement

The relative angle between the harness and the thigh (hip angle) and the thigh and the
shank (knee angle) were recorded. This kinematic data was used to examine the gait of
the exoskeleton (e.g. peak flexion and extension angles) and differences between the
exoskeleton gait and normal human walking were noted. The load and the moment in the
shank of the exoskeleton leg were also recorded and plotted as a function of gait cycle.

64

By recording the load in the leg it was possible to determine the percentage of the
exoskeleton load plus payload that was transferred through the exoskeleton leg to the
ground. The moment measurement in the shank recorded the maximum moment that
was seen by the ankle spring as it was compressed during walking. Knowing the
stiffness of the ankle spring, the maximum deflection and hence energy storage at the
exoskeleton ankle during walking was estimated.

5.3

Experimental Protocol

Experiments were performed at Massachusetts Institute of Technology (MIT) at the

Johnson Indoor Track. The subject walked around the track and individual trials lasted
10 minutes.

5.3.1

Human Use Approval

The exoskeleton and backpack experiments were approved by MITs Committee on the
Use of Human as Experimental Subjects (COUHES). The subject was a volunteer and
was permitted to withdraw from the study at any time for any reason.

Before

participating in the study, the subject read and signed a statement acknowledging
informed consent. Appendix B includes a copy of the subject consent form.

5.3.2

Subject Preparation

The subject was advised of the following guidelines for behavior before experiments
1. No intense or prolonged exercise for 24 hours
2. No caffeine for 3 hours
3. No heavy meals for 3 hours
4. Stay hydrated
5. No talking when wearing the VO2 mask
6. Maintain a consistent walking speed and walking cadence

65

5.3.3

Test Procedure

The order of events of the experiment and a brief description of each are outlined below.
1. Acclimating to the exoskeleton or backpack
The subject walked wearing the exoskeleton for a few minutes to acclimatize to the
hardware and to find a self-selected walking speed and cadence.
2. VO2 system worn
The Cosmed VO2 mask was fastened tightly to the subjects face to prevent any air
leakage. The Cosmed portable unit was strapped to the subjects chest.
3. Pre-Test resting metabolic rate
The subject was seated and 5 minutes of resting metabolic rate was recorded.
4. Testing metabolic measurement
The walking test (either with the backpack or the exoskeleton) was performed by walking
around the Johnson Indoor track at MIT on the inside lane.
5. Post-Test resting metabolic rate
The subject was seated for 5 minutes and the resting metabolic rate was measured again.
6. Resting
The subject took a small break and drank some water.

5.4

Data Analysis

Walking trials lasted 10 minutes and the average Vo2 (ml O2/min) and Vco2 (ml CO2/min)
values for steady state (the last 3 minutes of the trial) were calculated.

Rest

measurements were taken while the subject was seated for 5 minutes before and after
each walking trial and the average resting value was calculated. For all experiments
performed for this thesis, the respiratory exchange ratios were less than or equal to 1.0,
indicating that energy was supplied primarily by oxidative metabolism in all test

66

conditions. The gross metabolic rate for each walking trial was calculated using the
following standard equation (Brockway, 1987).
W s &
W s &
Vo 2 + 4.51
& metab, gross = 16.58
Vco 2
ml O 2
ml CO 2

(5.1)

& o and V
& co are mean values.
Where & metab, gross is gross metabolic rate, W is watts and V
2

For the experiments, the net metabolic rate of performing a trial was calculated by
subtracting the metabolic rate while resting (sitting) from the gross metabolic rate.
& metab, net = & metab, gross + & resting

(5.2)

To quantify the metabolic advantage of the exoskeleton & metab, net was obtained for a
number of trials which are outlined in the chapter 6.

67

6 Results and Discussion

Initial walking experiments were conducted with the exoskeleton loaded with a 75lb
payload. Kinematic and kinetic data were recorded and analyzed. Metabolic data from a
number of experiments of various exoskeleton configurations as well as a control
experiment are presented and the results are compared and discussed.

6.1

Kinematic and Kinetic Data

The exoskeleton was instrumented with angle, force and moment sensors to measure real
time characteristics of the exoskeleton gait. This information was used to compare the
trajectories of the joints of the exoskeleton to that of the human joints in normal walking.
The force sensing in the exoskeleton leg allowed the percentage of the weight of the
exoskeleton and payload being transferred through the exoskeleton leg to be determined.

6.1.1

Hip and Knee Trajectories

It was found that the hip and knee angles in the sagittal plane followed similar trajectories
to that of normal human gait kinematics, indicating that the exoskeleton gait was similar
to that of normal human walking. Figure 6.1 shows the measured angles as a function of
gait cycle as the subject walked with the exoskeleton. The range of motion of the
exoskeleton hip joint for a typical gait cycle was found to be approximately fifty five
degrees which agrees well with the fifty degrees for the human hip data in Figure 2.7.
However the trajectory of the exoskeleton hip was not as close to a sinusoid as the normal
human walking hip trajectory. It can be seen that, when wearing the exoskeleton, leg
retraction began earlier (before heel strike). This is likely due to the increased mass
attached to the human leg which limited maximum hip flexion and caused leg retraction
to begin earlier. Maximum knee flexion of the exoskeleton was on average sixty degrees,
a value which is similar to that of human knee flexion at slow to moderate walking
speeds as seen in Figure 2.10. However, at heel strike the knee of the exoskeleton did not
exhibit a similar amount of initial knee flexion and extension. This is due to the fact that
the exoskeleton knee exerted high damping on heel strike in order to bear load.

68

Hip Angle

Hip Angle (Deg)

40

20

Knee Angle (Deg)

-20

10

20

30

40
50
60
Percent Gait Cycle
Knee Angle

70

80

90

100

10

20

30

40
50
60
Percent Gait Cycle

70

80

90

100

60
40
20
0

Figure 6.1 Hip and knee angle data of the exoskeleton as a function of gait cycle. The data are shown from
heel strike to heel strike.

6.1.2

Load in the exoskeleton shank as a function of gait cycle

The function of the exoskeleton leg was to transfer the payload weight as well as the
weight of the exoskeleton to the ground during the stance phase of the walking cycle.
The force and moment in the exoskeleton shank were recorded as the subject walked with
the exoskeleton.

Figure 6.2 shows the load in the exoskeleton leg as a function of the

gait cycle.
600

500

Load (N)

400

300

200

100

10

20

30

40
50
60
Percent Gait Cycle

70

80

90

100

Figure 6.2 Load in the exoskeleton leg shank as a function of gait cycle. Heel strike is evident by a large
increase in measured force level. During the swing phase it can be seen that there is minimal load in the
exoskeleton leg.

69

It was determined that approximately 90% of the weight of the payload and exoskeleton
mass was transferred through the exoskeleton leg structure to the ground.

This result

demonstrates that the under-actuated leg exoskeleton presented in this thesis is capable of
transferring the weight to the ground. One reason that 100% of the weight was not
transferred to the ground is that some of the weight was born through the interface
between the exoskeleton and the wearer, i.e. the shoulder straps, waist belt and thigh
cuffs.

6.1.3

Moment in the exoskeleton shank as a function of gait cycle

During controlled dorsiflexion in walking, the muscles about the ankle joint help to
control the body falling forward. The spring at the ankle joint of the exoskeleton was
compressed during controlled dorsiflexion and this can be seen by the increasing moment
in the shank of the exoskeleton leg as a function of gait cycle in Figure 6.3. The spring
constant value along with the maximum moment seen in the exoskeleton shank allowed
the amount of energy stored by the spring to be estimated at 2.3J. This is approximately
four times lower than that observed from the biological gait data shown in Figure 2.15
and this is due to the fact that the maximum peak moment observed for the exoskeleton
was half that of normal human walking.
10

Moment (Nm)

-10

-20

-30

-40

-50

10

20

30

40
50
60
Percent Gait Cycle

70

80

90

100

Figure 6.3 Moment in the exoskeleton shank as a function of gait cycle. It is seen that during controlled
dorsiflexion the moment is increasing. During powered plantarflexion this moment goes to zero as the
energy stored in the ankle spring is released. During the swing phase the moment is close to zero.

70

6.2

Metabolic Measurements

A summary of the metabolic data taken during the experiments performed at MIT is
& o and V
& co data are shown for all walking tests as well the
shown in Table 6.1. V
2

average rest data from before and after each walking trial. For all experiments the
respiratory exchange ratio (RER) was less than 1. The self selected walking speed while
wearing the exoskeleton was 0.8m/s and walking speed was controlled so that tests were
performed at approximately this speed. A number of tests were also performed with and
without payload at 0.59, 0.8 and 0.9m/s. Data were also collected with the subject
wearing a non-actuated exoskeleton (no motor, variable-damper, or spring) with and
without payload.
Description

Load

Speed

[lbs]

[m/s]

Walk

Rest

Net

Walk

Rest

Net

0.80

780

250

530

610

174

436

0.82

0.90

806

350

456

778

271

507

0.98

75

0.59

961

223

738

808

194

614

0.83

75

0.80

1106

280

826

849

194

655

0.79

75

0.90

1181

285

896

975

213

763

0.82

75

0.80

1330

280

1050 1285

274

1012

0.96

75

0.76

1595

202

1394 1445

156

1289

0.93

Exo with no actuation

0.77

976

207

769

829

177

652

0.85

(light pin joints)

75

0.77

1545

264

1282 1507

239

1269

0.99

Backpack (Alice
military pack)

Exo with Rheo and

Ankle Spring
Exo with SEA, Rheo
and Ankle Spring

Vo2 [ml/min]

Vco2 [ml/min]

Table 6.1 Summary of metabolic data from experiments.

71

RER

& o and V
& co data from Table 6.1 the net metabolic cost for the walking trials
Using the V
2

was calculated using equations 5.1 and 5.2 and the results are listed in Table 6.2. As
described in Chapter 5, & metab, net gives a measure of the power required to walk. The
resting metabolic rate can be seen to vary slightly over the trials and the average value
was 85W. In the following sections, the exoskeleton is evaluated by comparing the
power required to walk from the results of the different experiments performed.

Load

Speed

& metab, gross

& metab, resring

& metab, net

[lbs]

[m/s]

[W]

[W]

[W]

0.80

261

82

179

0.90

281

101

181

75

0.59

326

76

250

75

0.80

369

92

277

75

0.90

400

86

313

75

0.80

464

98

366

75

0.76

549

67

482

Exo with no actuation

0.77

332

71

262

(light pin joints)

75

0.77

540

91

449

Description

Backpack (Alice
military pack)

Exo with Rheo and

Ankle Spring
Exo with SEA, Rheo
and Ankle Spring

No

Table 6.2 Metabolic cost for the various exoskeleton and control experiments performed.

6.2.1

Speed dependence on metabolic cost for load carrying

Metabolic data were collected for a number of walking speeds while carrying the
backpack. The results are shown in Figure 6.4 below. The increase in net metabolic rate
with speed agrees with the exponential increase reported in the literature (Bastien et al.,
2005).

72

Net Metabolic Rate (W)

350

300

250

200
0.5

0.55

0.6

0.65

0.7
0.75
0.8
Speed (m/s)

0.85

0.9

0.95

Figure 6.4 Increasing metabolic cost of carrying 75lbs with increasing walking speed.

6.2.2

Exoskeleton with actuation vs. walking

In order to quantify the advantage that the exoskeleton achieved when carrying a payload,
metabolic data are compared to a control experiment where the subject carried a
backpack unassisted. Two configurations of the exoskeleton were tested. The first was
the exoskeleton with a non-conservative actuator at the hip, variable-damper mechanism
at the knee and a uni-directional spring at the ankle. For the second case the actuator at
the hip joint was removed.
Speed

Enet

Advantage

[m/s]

[W]

[%]

Backpack

0.80

277

Exo with hip motor, knee damper and ankle spring

0.76

482

-74

Exo with knee damper and ankle spring

0.80

366

-32

Configuration with 75lb payload

Table 6.3 Comparison of walking with 75lbs with and without the exoskeleton. Two configurations of the
exoskeleton were tested.

From Table 6.3 it can be seen that for both configurations more effort was required to
walk with the exoskeleton compared to unassisted load carrying. Factors that likely
contributed to the increased metabolic rate are the mass of the exoskeleton, the kinematic
73

constrainment of the exoskeleton and non-collocation of the exoskeleton and human

joints. Another possible reason for the increase in metabolism is that the exoskeleton
knee joint had some intrinsic damping. During the swing phase the human may have had
to do extra work to overcome this resistance. The amount of energy stored in the ankle
spring was estimated to be 2.3J and this compares to approximately 9J based on
biological data. An increase in the amount of energy stored at the ankle would assist the
exoskeleton foot come off the ground thus reducing the effort exerted by the wearer. The
results also show that adding actuation at the hip has a negative effect. This could be due
to the fact that the weight of the actuators and battery pack out way the benefit of the
power added.

6.2.3

Effect of increased mass for actuation at knee and ankle

By comparing distinct exoskeleton configurations, the relative effect of the exoskeleton

components was determined.

In this case the exoskeleton with variable-damper

mechanism at the knee and spring at the ankle is compared to a non-actuated exoskeleton
where the joint components were replaced with pure pin joints. Metabolic data show that
the variable-damper knee and ankle spring mechanisms increase metabolism by only
32%, whereas a non-actuated exoskeleton (no motor, variable-damper, or spring)
increases walking metabolism by 62% as can be seen in Table 6.4. This result highlights
the benefit of ankle elastic energy storage and knee variable-damping in exoskeleton
design.
Speed

Configuration with 75lb payload

Emetab,net Advantage

[m/s]

[W]

[%]

Backpack

0.80

277

Exo with knee damper and ankle spring

0.80

366

-32

Exo with pin joints

0.77

449

-62

Table 6.4 The effect of increased mass for actuation at the ankle and knee.

74

6.2.4

Metabolic cost for wearing exoskeleton with no load

In order to quantify the metabolic cost a non-actuated exoskeleton imparted on the

subject, metabolic data were recorded with the subject wearing an exoskeleton with a
payload of 5lbs (weight of electronics) where the actuation at the joints was replaced with
lightweight pin joints. The total weight of this system, including the backpack, was
29.4lbs. This is 17.8% of the mass of the subject. It has been shown that metabolic cost
increases by 15% if a load of 10% of body weight is carried (Griffen et al., 2003). If we
assume a linear relationship between increase in load and metabolic cost and extrapolate
this result, we can estimate that a load of 17.8% will increase the metabolic rate by
26.7%.
Speed

Emetab,net

[m/s]

[W]

[W]

[%]

Backpack with 0lbs

0.80

179

Exo with pin joints and 5lbs

0.77

262

83

-46

Backpack with 75lbs

0.80

277

98

-55

Configuration

Incremental Advantage

Table 6.5 The metabolic cost of wearing the exoskeleton with no load.

Table 6.5 it can be seen that wearing the non-actuated exoskeleton, the metabolic rate
increased by 46% (83W). The fact that this is higher than 26.7% is expected because the
weight of the exoskeleton was distributed along the human leg and it has been shown that
distal mass is more metabolically costly than proximal mass (Royer et al., 2005).
Another possible reason for the higher value may be the fact that the exoskeleton affected
the gait of the wearer. McMahon et al. (1987) showed that changes in gait increase the
physiological energy expended during locomotion. For comparison, it can be seen that
the increase in net metabolic rate for carrying 75lbs unassisted was 55% (98W). This is
not much more than the case for the non-actuated exoskeleton with 5lbs payload. Further
reducing the weight of the exoskeleton as well as reducing the affect on normal gait
would likely reduce metabolism while wearing the exoskeleton.

75

6.2.5

Incremental cost of load carrying

The incremental cost for carrying a load was calculated by subtracting the net metabolic
rate with no load from the net metabolic rate while carrying 75lbs.
Configuration

Speed

Emetab,net

Incremental Cost

[m/s]

0lbs

75lbs

[75lbs 0lbs]

Backpack

0.80

179

277

98

Exo with knee damper and ankle spring

0.77

262

366

104

Table 6.6 Incremental cost of load-carrying for walking with and without the exoskeleton.

Table 6.6 shows the incremental cost for carrying a load for the unassisted case and the
case while wearing the exoskeleton with a variable-damper mechanism at the knee and a
spring at the ankle.

It can be seen that the increase in net metabolic rate was

approximately 100W for both the unassisted case and the case when wearing the
exoskeleton. This result suggests that the increase in metabolic rate when wearing the
exoskeleton is more involved than simply the additional mass of the exoskeleton.

76

7 Conclusion
Metabolic studies have shown that there is a metabolic cost associated with carrying a
load (Griffin et al., 2003).

Further studies have shown that by applying forward

propulsive forces a person can walk with a reduced metabolic rate (Farley and McMahon,
1992; Gottschall and Kram, 2003). In this thesis, a lightweight, under-actuated
exoskeleton is presented that runs in parallel to the human leg and transmits payload
forces to the ground. The exoskeleton component design is based on the kinematics and
kinetics of human walking. The joint components of the exoskeleton in the sagittal plane
consist of a force-controllable actuator at the hip, a variable-damper mechanism at the
knee and a passive spring at the ankle. A state-machine control strategy for the hip and
knee is implemented and is based on joint angle and ground-exoskeleton force sensing.
Data are collected from the sensors in real time and the controller for the hip and knee is
shown to work robustly during walking trials.
It is demonstrated that the exoskeleton does transfer load to the ground with a 90% and
higher load transfer depending on the phase of gait. Further, exoskeleton wearers report
that the exoskeleton greatly reduces the stress on the shoulders and back. However,
although a significant fraction of the payload is transferred through the exoskeleton
structure, the exoskeleton is found to increase metabolic economy by 74%.

By

comparing distinct exoskeleton configurations, the relative effect of each exoskeleton

component is determined. Metabolic data show that the variable-damper knee and ankle
spring mechanisms increase metabolism by only 32%, whereas a non-actuated
exoskeleton (no motor, variable-damper, or spring) increases walking metabolism by
62%.

These results highlight the benefit of ankle elastic energy storage and knee

variable-damping in exoskeleton design, and further the need for a lighter, more efficient
hip actuator. In addition to augmenting the load carrying capacity of the human, the
advancement of leg exoskeletons can contribute to the science of bipedal walking and
lead to a better understanding of locomotory biomechanics, energetics and control.

77

8 Future Work
This section presents a number of possible areas to focus on gong forward.

Hip Actuator Redesign

It is clear that the actuator used in this thesis had a negative effect on metabolic rate. A
more efficient, lightweight actuator requiring a smaller power supply used in conjunction
with a spring at the hip could add sufficient power with minimal mass.

Minimize Kinematic Constraints

The results showed that the kinematic constraints from the exoskeleton on the gait of the
wearer may have a negative effect on metabolic cost. Improvements to the foot and spine
of the exoskeleton are shown in Chapter 3. These improvements may reduce the effect
the exoskeleton has on human gait. The effect of these changes will be tested with
further metabolic experiments. The medial-lateral rotation of the human and exoskeleton
leg are not collocated and this leads to some discomfort in walking so this is another
possible area for improvement.

Improved Knee
The knee of the exoskeleton can only dissipate energy. An improved design would be
one that stores energy on heel strike that is then released to assist in raising the center of
mass of the wearer. Further, the variabledamper mechanism used in the exoskeleton
presented had intrinsic damping, even when off, that may have impeded the swinging of
the human leg. A knee that would have zero resistance when off would be ideal.

Extensive Testing on Exoskeleton Gait and Effect of Distal Mass

The exoskeleton does affect the gait of the wearer. This could be thoroughly examined
by taking measurements while walking in a gait lab with a motion capture system. The
effect of the mass of the exoskeleton attached to the human leg could be examined by
placing similar mass on the human leg and examining its affect on metabolic rate.

78

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81

Appendix A: Carbon Fiber Harness Construction

This appendix details briefly the procedure for the construction of the carbon fiber
harness. Once the design of the harness was complete and modeled in CAD the next step
was to cut 2D slices of the harness out of foam using the waterjet. The foam was cutting
using just high pressure water on the waterjet cutter so as to provide a relatively smooth
finish to the mount for layering over the carbon fiber. These 2D sections were then
assembled to make a mold for the harness.

Figure A1 In a), cutting foam using the waterjet and b), the foam sections before being layered.

The figure below shows the assembled mold with carbon fiber layered over it. This part
of the process was carried out by working with Bob Emerson. The carbon fiber was then
trimmed to give the final harness as shown in Chapter 3.

Figure A2 Assembled mold with carbon fiber layer over it.

82

Appendix B: Subject Consent Forms

CONSENT TO PARTICIPATE IN
BIOMEDICAL RESEARCH

Leg Orthoses for Locomotory Endurance Amplification

You are invited to participate in a research study conducted by Dr. Hugh Herr, Ph.D.,
Dan Paluska, B.S.E, Conor Walsh, B.S.E, Andrew Valiente, B.S.E, and William Grand,
B.S.E from the Media Lab: Biomechatronics Group at the Massachusetts Institute of
Technology (M.I.T.). You have been invited to participate in this study because you are
a member of the MIT Biomechatronics Group and are involved in the design of the
orthosis. You will be invited to be one of four subjects in this study. You should read the
information below, and ask questions about anything you do not understand, before
deciding whether or not to participate.
PARTICIPATION AND WITHDRAWAL

Your participation in this research is completely VOLUNTARY. If you choose to

participate you may subsequently withdraw from the study at any time without penalty or
consequences of any kind. If you choose not to participate, that will not affect your
relationship with M.I.T. or your right to health care or other services to which you are
otherwise entitled or will not cause you to lose your research compensation.
PURPOSE OF THE STUDY

We would like permission to enroll you as a participant in a research study. The purpose
of this study is to develop a robust, low-power, stable, and lightweight leg orthosis that
will dramatically increase the locomotory endurance of walking and running. The
orthosis system will run parallel to your body, transmitting forces between the ground
and your leg, thigh and torso as you stand, walk and run. Orthosis forces will effectively
reduce the fraction of your body weight borne by your stance legs. As well as this the
device will be attached to a backpack loaded up to a maximum of 75lbs and the orthosis
will reduce the fraction of this load borne by your stance legs. Instead of your leg actively
stiffening to support the weight throughout each locomotory step, the parallel orthosis
will offer that support, deactivating your leg muscles and dramatically lowering
metabolic demands. Your opinion is needed regarding the comfort level of the system.
We also want to measure your rate of oxygen consumption using a VO2 machine while
you walk/run to see if wearing the exoskeleton decreases your metabolic rate.
DEVICE DETAILS

The leg orthosis will comprise motor and variable- impedance systems previously
developed for robotic and human rehabilitation applications. To augment hip movements,
a series-elastic actuator (SEA), previously developed for legged robots, will be employed
to power hip flexion-extension actions during walking and running..Variable-damping
83

and variable-spring mechanisms will be placed in parallel to the knee to augment leg
impedance. During level ground ambulation, knee damping will be controlled during the
swing phase to dissipate energy and to decelerate the swinging leg.
In distinction, throughout early to midstance, knee damping will be minimized and a
variable spring mechanism will be engaged to resist the knee buckling moment of early
stance. Similar to the knee, the orthotic ankle will act primarily as variable-impedance
device during ambulation.
The orthosis will be custom fit and will consist of several rigid carbon fiber sections. The
rigid sections, which look like body armor, are needed so that the springs and mechanical
devices can be mounted. The rigid sections will be custom fit and made by a professional
orthotist from Next Step Inc. at North Andover, MA. The orthotist will need to cast your
lower body in plaster to make a mold for the rigid carbon fiber harness that would be
used. The rigid sections will have a layer of protective material such as silicon between
the rigid sections and the skin for comfort.
PROCEDURES

If you volunteer to participate in this study, we would ask you to do the following things:
A professional orthotist will make you a customized carbon fiber orthosis, by first casting
you in plaster from the torso down. This casting would be done at Next Step Inc. of North
Andover, MA. The casting process typically takes several hours.
You will be asked to wear the soft- lined rigid orthosic interface structure during walking
and running. This is so we can know if the orthosis interface is comfortable and that we
can correct any discomfort locations before we proceed with anymore testing. This
should take about two hours.
Once walking and running is comfortable with the orthotic interface, we will proceed
with your permission to test the hypothesis of our experiment to see if the orthosis does,
in fact, reduce the metabolic cost of walking and running. You will be asked to wear a
Cosmed Oxygen Consumption (VO2) mask which will measure the rate with which you
consume oxygen and will determine your metabolic rate. Two hours prior to testing, you
will be asked not to eat. The procedure will be as follows:

Walking:
You will wear the VO2 system and walk for 8 minutes on the treadmill to establish a
control metabolic rate. After resting for 8 minutes, you will wear the orthosis and get
acclimated to the device by walking for 5 minutes. You will then walk on the treadmill
for 8 minutes as we measure your metabolic rate with the device. You will then rest for
another 8 minutes. This protocol will be repeated two additional times, and the entire
experiment will take approximately 2 hours.
Throughout the study, you will be videotaped and photographed to document the affect
that the orthosis has on walking and running. This video would be used in conferences
and may be published on the internet. If you volunteer to this study you ARE giving
consent to be videotaped and photographed and that this media may be published at the
discretion of the investigators involved.

84

 POTENTIAL RISKS AND DISCOMFORTS

Falling:
1. As with any orthotic walking, there is a small risk of falling during the trials. This will
be minimized by having parallel bars and by having a safety harness attached to the
ceiling. If a backpack is being used then there will be a safety harness attached between
the backpack and the ceiling.
2. The electronics will have two kill switches, one on the operator and one remote so that
either the subject or the investigator can immediately disable the device.
3. If you become too fatigued you may ask to rest or stop the study at any time.
4. Since the orthosis is mechanical, there is a risk of malfunction. The developers will
make every effort to reduce this risk, but if a malfunction occurs, you will have standard
parallel bars to catch you. If you fail to catch yourself with the parallel bars, a safety
harness will hold you upright.
Orthosis discomfort:
5. As with any orthotic device, there is also potential physical discomfort from wearing
the orthosis. This will be minimized by having a professional orthotist design and modify
a customized orthotic for your use.
Other:
6. This device is investigational and it may involve risks that are currently unforeseeable.
7. Your participation in this study may be terminated by the investigator if they feel there
are excessive risks from the device being tested.
ANTICIPATED BENEFITS TO SUBJECTS

The potential benefits may include:

1. There are no known direct benefits for participating in this experiment. The orthosis
being developed is a prototype and will not be immediately available.
2. You should not expect your ambulation to improve as a result of participating in this
research
ANTICIPATED BENEFITS TO SOCIETY

1. The orthosis may help reduce the metabolic cost of walking and running. This device
may also help those with weak legs or other physical disabilities.
ALTERNATIVES TO PARTICIPATION

This research is a study to augment normal human endurance and decrease normal human
metabolic cost in waling and running using an assistive device. Your alternative is to not
participate in the study.

PAYMENT FOR PARTICIPATION

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Subjects will not be paid for participating in this study. The subject would however
receive research compensation for the design of the orthosis which is independent of
involvement in this study.
POSSIBLE COMMERCIAL PRODUCTS

The orthosis may be become a commercial product as an assistive device for running and
walking. It may have both military and rehabilitative applications.
FINANCIAL OBLIGATION

Neither you nor your insurance company will be billed for your participation in this
research.
PRIVACY AND CONFIDENTIALITY

The only people who will know that you are a research subject are members of the
research team and, if appropriate, your physicians and nurses. No information about you,
or provided by you during the research will be disclosed to others without your written
permission, except: if necessary to protect your rights or welfare, or if required by law.
When the results of the research are published or discussed in conferences, no
information, other than the photographs or videos, will be included that would reveal
your identity. If photographs, videos, or audio-tape recordings of you will be used for
educational purposes, your identity will be protected in that your name or other identifiers
will not be mentioned. Your face however may be recognizable in the photograph or
video.
The videotapes and photos will be under the control of the MIT Media Laboratorys
Biomechatronics Group. After the results are published, a copy of the photos and videos
will be kept on file in the laboratory for future reference. A video clip or some
photographs may be published on the groups website, available to the general public, as
a sample of the work that has been developed.
WITHDRAWAL OF PARTICIPATION BY THE INVESTIGATOR

The investigator may withdraw you from participating in this research if circumstances
arise which warrant doing so. If you experience any of the following side effects extreme
tiredness or irregular breathing or if you become ill during the research, you may have to
drop out, even if you would like to continue. The investigator, Hugh Herr, will make the
decision and let you know if it is not possible for you to continue. The decision may be
made either to protect your health and safety, or because it is part of the research plan that
people who develop certain conditions may not continue to participate.

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 NEW FINDINGS

During the course of the study, you will be informed of any significant new findings
(either good or bad), such as changes in the risks or benefits resulting from participation
in the research or new alternatives to participation, that might cause you to change your
mind about continuing in the study. If new information is provided to you, your consent
to continue participating in this study will be re-obtained.
EMERGENCY CARE AND COMPENSATION FOR INJURY

In the unlikely event of physical injury resulting from participation in this research you
may receive medical treatment from the M.I.T. Medical Department, including
emergency treatment and follow-up care as needed. Your insurance carrier may be billed
for the cost of such treatment. M.I.T. does not provide any other form of compensation
for injury. Moreover, in either providing or making such medical care available it does
not imply the injury is the fault of the investigator. Further information may be obtained
by calling the MIT Insurance and Legal Affairs Office at 1-617-253-2822.
IDENTIFICATION OF INVESTIGATORS

In the event of a research related injury or if you experience an adverse reaction, please
immediately contact one of the investigators listed below. If you have any questions
about the research, please feel free to contact Hugh Herr at (617) 258-6574 or at Building
E15, Room 419, 20 Ames Street, Cambridge, MA.
RIGHTS OF RESEARCH SUBJECTS

You are not waiving any legal claims, rights or remedies because of your participation in
this research study. If you feel you have been treated unfairly, or you have questions
regarding your rights as a research subject, you may contact the Chairman of the
Committee on the Use of Humans as Experimental Subjects, M.I.T., Room E32-335, 77
Massachusetts Ave, Cambridge, MA 02139, phone 1-617-253 6787

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SIGNATURE OF RESEARCH SUBJECT OR LEGAL REPRESENTATIVE

I have read (or someone has read to me) the information provided above. I have been
given an opportunity to ask questions and all of my questions have been answered to my
satisfaction. I have been given a copy of this form.
BY SIGNING THIS FORM, I WILLINGLY AGREE TO PARTICIPATE IN THE
RESEARCH IT DESCRIBES.

________________________________________
Name of Subject
________________________________________
Name of Legal Representative (if applicable)
________________________________________
Signature of Subject or Legal Representative

______________
Date

SIGNATURE OF INVESTIGATOR
I have explained the research to the subject or his/her legal representative, and answered
all of his/her questions. I believe that he/she understands the information described in
this document and freely consents to participate.

________________________________________
Name of Investigator
________________________________________ _____________________________
Signature of Investigator
Date (must be the same as subjects)
SIGNATURE OF WITNESS (If required by COUHES)
My signature as witness certified that the subject or his/her legal representative signed
this consent form in my presence as his/her voluntary act and deed.

________________________________________
Name of Witness
________________________________________ _____________________________

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